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LaserSLAM based on C#.

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This is 2D LaserSLAM program based on C# language. There's still room for improvement.

YDLidarG2 is used.

image

Source code list

  1. Program.cs (main)
  2. SLAM_utils.cs (SLAM utility function class)

SLAM_utils function list

  • create_BWmap : Convert local map to hamming distance map
  • distanceBW : hamming distance
  • extract_sgrid : extract small grid from local map
  • cal_idx : calculate index from small grid
  • ExtractLocalMap : extract local map from map
  • transform
  • pol2cart : convert polar coordinates to cartesian coordinates
  • Dgetr
  • deg2rad : convert degree to radian
  • rad2deg(not used)
  • diffpos : difference between current position and previous position
  • min_max_func : get min(x, y), max(x, y) from map

Reference :

  1. YDLidarSharp github : https://github.com/Denny9700/YDLidarSharp.git

  2. LaserSLAM github : https://github.com/meyiao/LaserSLAM.git (W.Hess, D.Kohler, H.Rapp and D.Andor. Real-Time Loop Closure in 2D LIDAR SLAM. ICRA, 2016)