RANSAC 和最小二乘法实现雷达自我速度估计

资源文件列表(大概)

文件名

大小

reve/

reve/.clang-format

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reve/.gitignore

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reve/LICENSE

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reve/README.md

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reve/.git/

reve/.git/config

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reve/.git/description

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reve/.git/HEAD

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reve/.git/packed-refs

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reve/.git/index

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reve/.git/info/

reve/.git/info/exclude

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reve/.git/branches/

reve/.git/hooks/

reve/.git/hooks/prepare-commit-msg.sample

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reve/.git/hooks/pre-applypatch.sample

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reve/.git/hooks/update.sample

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reve/.git/hooks/fsmonitor-watchman.sample

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reve/.git/hooks/pre-merge-commit.sample

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reve/.git/hooks/pre-receive.sample

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reve/.git/hooks/pre-rebase.sample

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reve/.git/hooks/applypatch-msg.sample

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reve/.git/hooks/pre-commit.sample

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reve/.git/hooks/pre-push.sample

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reve/.git/hooks/commit-msg.sample

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reve/.git/hooks/post-update.sample

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reve/.git/refs/

reve/.git/refs/heads/

reve/.git/refs/heads/master

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reve/.git/refs/tags/

reve/.git/refs/remotes/

reve/.git/refs/remotes/origin/

reve/.git/refs/remotes/origin/HEAD

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reve/.git/objects/

reve/.git/objects/pack/

reve/.git/objects/pack/pack-ecf5a75c287282fa7a355493beb16b35fc6e15e7.pack

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reve/.git/objects/pack/pack-ecf5a75c287282fa7a355493beb16b35fc6e15e7.idx

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reve/.git/objects/info/

reve/.git/logs/

reve/.git/logs/HEAD

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reve/.git/logs/refs/

reve/.git/logs/refs/remotes/

reve/.git/logs/refs/remotes/origin/

reve/.git/logs/refs/remotes/origin/HEAD

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reve/.git/logs/refs/heads/

reve/.git/logs/refs/heads/master

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reve/demo_datasets/

reve/demo_datasets/calib_rio.yaml

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reve/demo_datasets/calib_ti_mmwave_rospkg.yaml

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reve/demo_datasets/demo_rio_format.bag

4.72MB

reve/demo_datasets/demo_ti_mmwave_rospkg_format.bag

3.85MB

reve/radar_ego_velocity_estimator/

reve/radar_ego_velocity_estimator/CMakeLists.txt

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reve/radar_ego_velocity_estimator/package.xml

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reve/radar_ego_velocity_estimator/cfg/

reve/radar_ego_velocity_estimator/cfg/RadarEgoVelocityEstimator.cfg

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reve/radar_ego_velocity_estimator/cfg/cfg_radar_ego_velocity_estimation/

reve/radar_ego_velocity_estimator/cfg/cfg_radar_ego_velocity_estimation/__init__.py

reve/radar_ego_velocity_estimator/cfg/cfg_radar_ego_velocity_estimation/radar_ego_velocity_estimator.py

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reve/radar_ego_velocity_estimator/cfg/cfg_radar_ego_velocity_estimation/__pycache__/

reve/radar_ego_velocity_estimator/cfg/cfg_radar_ego_velocity_estimation/__pycache__/__init__.cpython-38.pyc

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reve/radar_ego_velocity_estimator/cfg/cfg_radar_ego_velocity_estimation/__pycache__/radar_ego_velocity_estimator.cpython-38.pyc

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reve/radar_ego_velocity_estimator/config/

reve/radar_ego_velocity_estimator/config/params_demo_dataset.yaml

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reve/radar_ego_velocity_estimator/include/

reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/

reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/data_types.h

3.12KB

reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/math_helper.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/odr.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/radar_body_velocity_estimator.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/radar_body_velocity_estimator_ros.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/radar_ego_velocity_estimator.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/radar_ego_velocity_estimator_ros.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/radar_point_cloud.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/ros_helper.h

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reve/radar_ego_velocity_estimator/include/radar_ego_velocity_estimator/simple_profiler.h

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reve/radar_ego_velocity_estimator/launch/

reve/radar_ego_velocity_estimator/launch/demo_rio_body_velocity.launch

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reve/radar_ego_velocity_estimator/launch/demo_rio_ego_velocity.launch

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reve/radar_ego_velocity_estimator/launch/demo_ti_mmwave_body_velocity.launch

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reve/radar_ego_velocity_estimator/launch/demo_ti_mmwave_ego_velocity.launch

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reve/radar_ego_velocity_estimator/python/

reve/radar_ego_velocity_estimator/python/velocity_estimation_evaluator.py

5.7KB

reve/radar_ego_velocity_estimator/src/

reve/radar_ego_velocity_estimator/src/odr.cpp

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reve/radar_ego_velocity_estimator/src/radar_body_velocity_estimator.cpp

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reve/radar_ego_velocity_estimator/src/radar_body_velocity_estimator_ros.cpp

8.45KB

reve/radar_ego_velocity_estimator/src/radar_ego_velocity_estimator.cpp

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reve/radar_ego_velocity_estimator/src/radar_ego_velocity_estimator_ros.cpp

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reve/radar_ego_velocity_estimator/src/radar_point_cloud.cpp

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reve/radar_ego_velocity_estimator/src/simple_profiler.cpp

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reve/radar_ego_velocity_estimator/src/nodes/

reve/radar_ego_velocity_estimator/src/nodes/radar_body_velocity_estimation_ros_node.cpp

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reve/radar_ego_velocity_estimator/src/nodes/radar_body_velocity_estimation_rosbag_node.cpp

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reve/radar_ego_velocity_estimator/src/nodes/radar_ego_velocity_estimation_ros_node.cpp

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reve/radar_ego_velocity_estimator/src/nodes/radar_ego_velocity_estimation_rosbag_node.cpp

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reve/radar_ego_velocity_estimator/src/odrpack/

reve/radar_ego_velocity_estimator/src/odrpack/d_lpk.f

38.84KB

reve/radar_ego_velocity_estimator/src/odrpack/d_mprec.f

5.3KB

reve/radar_ego_velocity_estimator/src/odrpack/d_odr.f

359.26KB

reve/radar_ego_velocity_estimator/src/odrpack/d_test.f

69.1KB

reve/radar_ego_velocity_estimator/src/odrpack/dlunoc.f

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reve/radar_ego_velocity_estimator/src/odrpack/lpkbls.f

68.77KB

reve/radar_ego_velocity_estimator/src/odrpack/odrpack_guide.pdf

550.31KB

reve/radar_ego_velocity_estimator/src/odrpack/real_precision.f

172B

reve/res/

reve/res/demo_rio_format_v_body.jpeg

198.86KB

reve/res/demo_rio_format_v_body_err.jpeg

250.92KB

reve/res/demo_rio_format_v_radar.jpeg

194.55KB

资源内容介绍

github上的免费下载雷达自我速度估计：使用 RANSAC 和最小二乘法的 C++ 实现在自动驾驶和机器人领域，雷达传感器是一种重要的设备，用于检测物体的位置和速度。本文将介绍如何通过 C++ 代码实现雷达自我速度估计。我们的实现结合了 RANSAC（随机采样一致性算法）和最小二乘法，以在含噪声的数据中进行鲁棒的速度估计。代码结构本文的代码实现包含两个主要部分：estimate 函数：处理雷达扫描数据并进行速度估计。solve3DFullRansac 和 solve3DFull 函数：使用 RANSAC 和最小二乘法进行速度估计。

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RANSAC 和最小二乘法实现雷达自我速度估计

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