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info.txt
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*** laser data:
file : aa3_lsr2.mat
LASER is a uint16 matrix, 361 columns, N rows.
column k corresponds to the range in direction of angle Ak = (k-1)*/2 (in de degrees)
the ranges are in CM.
ranges higher than 8000 cm are considered 'no reflexion' (infinite distance).
TLsr is the time vector, dimm = Nx1. it is uint32 type.
then LASER(k,:) is a laser frame, with timestamp TLsr(k).
==================================
*** dead-reckoning data:
in file aa3_dr.m.
variables:
speed : in m/secs.
steering : in radians.
time : in millisecs.
speed(k), steering(k) are related to timestamp time(k).
do
load aa3_dr.mat
figure(1) ; clf ; plot(time,speed) ; xlabel('time (ms)') ; ylabel('speed, (m/sec)') ;
figure(2) ; clf ; plot(time,steering) ; xlabel('time (ms)') ; ylabel('steering, (rads)') ;
==================================
*** gps data.
Lo_m : longitude (in meters)
La_m : latitude (in meters)
timeGps : time in msecs.
obs: the gps unit was failing, it is possible to see jumps and regions without gps data.
run :
clear all;
load aa3_gpsx ; plot(Lo_m,La_m,'.') ;
==================================
*** run ViewLsr.m to see the laser data (dynamically)
===================================
use DetecTrees.m to get the landmarks from the laser frame data.
see ViewLsr code to see how to use it.
===================================
CAR parameters: (see car.bmp drawing)
a : 0.95 m
b : 0.5 m
H : 0.76 m
L : 2.83 m
===================================