# OdomLaserCalibraTool

**Repository Path**: Sytx_1/OdomLaserCalibraTool

## Basic Information

- **Project Name**: OdomLaserCalibraTool
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-02
- **Last Updated**: 2025-07-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# laser-odom_calibration

## 1. Prerequisites

1. ubuntu 16.04 + ROS Kinetic

2. Eigen3

## 2. Usage

```
    cd catkin_ws/src
    git clone https://github.com/MegviiRobot/OdomLaserCalibraTool
    cd ..
    catkin_make
    source devel/setup.bash
    roslaunch example.launch
```

__INPUT:__

A rosbag includes laser scan and odometer data(left & right wheels' velocity). Please check the topic name with launch file.

*Note that we use rostopic type geometry_msgs::Vector3Stamped to record odometer's raw data, for other types please modify the [code](https://github.com/MegviiRobot/OdomLaserCalibraTool/blob/master/src/io.cpp#L72).

__OUTPUT:__

Extrinsic parameters between LiDAR and odomter(x, y, yaw), intrinsic paramters of odomter(left & right wheels' radius, track between two wheels) and related uncertainty analysis.

e.g.

<img src="https://github.com/MegviiRobot/OdomLaserCalibraTool/blob/master/result.png" alt="result" />

## 3. Authors

1. Zhijie WANG, Research Intern at Megvii, will graduate from Beijing University of Posts & Telecommunications with a bachelor degree in July 2019, contact with  (paul dot wangzhijie at outlook dot com).

2. Yijia HE, you can find the chinese version [in his homepage](https://blog.csdn.net/heyijia0327/article/details/88571176), if you have any question, please contact (heyijia_2013 at 163 dot com)

3. Xiao Liu, [his homepage](http://www.liuxiao.org/)

## 4. References

Censi, Andrea, Franchi, Antonio, Marchionni, Luca & Oriolo, Giuseppe (2013). Simultaneous calibration of odometry and sensor parameters for mobile robots. IEEE Transactions on Robotics, 29, 475-492.