00001 /** \page mrpt-obs Library overview: mrpt-obs 00002 * 00003 00004 <small> <a href="index.html#libs">Back to list of libraries</a> </small> 00005 <br> 00006 00007 <h2>mrpt-obs</h2> 00008 <hr> 00009 00010 In this library there are <b>five</b> key elements or groups of elements: 00011 00012 <ul> 00013 00014 <li><b>Sensor observations:</b> All sensor observations share a common virtual base 00015 class (mrpt::slam::CObservation). There are classes to store laser scanners, 3D range images, 00016 monocular and stereo images, GPS data, odometry, etc. A concept very related to observations 00017 is a mrpt::slam::CSensoryFrame, a set of observations which were collected approximately at the same instant. </li> 00018 00019 <li><b>Rawlogs (datasets):</b> A robotics dataset can be loaded, edited and explored by means 00020 of the class mrpt::slam::CRawlog. See also: http://www.mrpt.org/Rawlog_Format </li> 00021 00022 <li><b>Actions:</b> For convenience in many Bayesian filtering algorithms, robot actions 00023 (like 2D displacement characterized by an odometry increment) can be represented by means 00024 of "actions". See mrpt::slam::CAction.</li> 00025 00026 <li><b>"Simple maps":</b> In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above). 00027 The advantage of maintaining such a "simple map" instead a metric map is that the metric maps 00028 can be rebuilt when needed with different parameters from the raw observations, which are never lost. </li> 00029 00030 <li><b>CARMEN logs tools:</b> Utilities to read from CARMEN log files and load the observations there 00031 as MRPT observations. See mrpt::slam::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap. </li> 00032 00033 </ul> 00034 00035 00036 00037 00038 */ 00039
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