On Wed, Jan 5, 2011 at 10:24 PM, Zhiping wrote: > > Hi Eric, > > Were there any people moving around in the laser scan while the robot was > stationary? > During the experiement, i tried to isolate the robot so that the > environment > remained unchanged throughout the whole experiment. > > What does the laser scan look like? Is it noisy? > Personally, i don't think the laser is scan is noisy. I have already > attached the picture of the laser scan for your reference. > http://www.youtube.com/watch?v=5NV0g0FMX6Q > > http://ros-users.122217.n3.nabble.com/file/n2203293/Laser_scan_information.png Ya, it looks like what I would expect. But, as you can see, they aren't constant, so I could understand the small variance in the position estimates being caused by small variations in the LIDAR pings. How much of a variation in position is reasonable due to LIDAR variance, I don't know. > > > Meanwhile, i also tried to change the parameter for "sigma", > "max_correspondence_dist" and "orientation_neighbourhood" to increase > tolerence using these setting > > sigma = 1 > max_correspondence_dist = 0.4 > orientation_neighbourhood = 100 > > What other parameters would you suggest to enhance the result ? > I'm not really familiar with the algorithm's parameters. We really only looked at it for use on a system that did not have any other odometry source, realized that it would have to interpret a person walking as movement of the robot and therefore couldn't use it since we anticipate the robot being used in dynamic environments. Perhaps one of the package maintainers would have a better idea how to adjust the parameters. - Eric > sorry to trouble you. > > With thanks, > Zhiping > -- > View this message in context: > http://ros-users.122217.n3.nabble.com/Problem-with-canonical-scan-matcher-tp2197613p2203293.html > Sent from the ROS-Users mailing list archive at Nabble.com. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >