xtion与laser数据融合-特殊障碍物检测

Posted 2020-10-26 hiram-zhang

 图1. 机器人实际测试场景

 

图2. View of xtion

 

图3. laser scan (red point) 

 

图4. xtion scan (blue point)

 

 图5. Fuse xtion scan into laser scan  (green point)

 

图6. Chair add into map