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How to get pose
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How to get pose
1.
How to get Pose 機械研究会 京都大学工学部電気電子工学科3回生 松岡
航太郎
2.
アジェンダ •姿勢 •ジャイロ積分 •Madgwickフィルタ •相対位置 •転がしエンコーダ •Realsense T265 •絶対位置 •ORB-SLAM2 •経路生成
3.
ジャイロ積分 •最も簡便な姿勢取得方法 •当会MR1のヨー姿勢 •ゼロバイアス・取り付けが重要
4.
•MPU9250 •MR1で使用、安価だが不十分 •FXAS21002C •上の十倍程度、$15
5.
Madgwickフィルタ •6or9軸のフュージョン •STM32F4で100Hz •当会MR2の3次元姿勢推定
6.
転がしエンコーダ •当会MR1の並進速度・位置 •エンコーダ用のオムニホイール •本当は3つつける方が良い
7.
•YUMO A6B2-CWZ6C •オムロンコピー、$45 •CUI AMT-102 •インクリメンタル、3000円 •CUI
AMT-203 •アブソリュート、SPI
8.
Realsense T265 •15Wで3次元位置・速度推定 •2万後半で買える ・ROSで簡単に使える
9.
ORB-SLAM2 •Visual SLAM •LiDARより安価(2万後半) •3次元絶対位置推定
10.
経路生成 •MR1,2ともにクロソイド曲線 •曲率が連続 •人間オプティマイズ
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