I want to include Velodyne's intensity

at-wat / mcl_3dl

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.

BSD 3-Clause "New" or "Revised" License

502 stars 118 forks source link

I want to include Velodyne's intensity #394

Open isaogotu opened 1 year ago

isaogotu commented 1 year ago

Hello Mr. at-wat I am the one who asked you the question before. I managed to implement it with the data I got from Velodyne. Thank you very much.

My research is to improve the accuracy of localization by including features in sensor data. Therefore, as a first step, I would like to implement mcl_3dl including Velodyne's intensity. I wonder if you would be able to enjoy something. Thank you in advance.

greymfm commented 9 months ago

Sounds interesting! I did use intensity to identify objects (https://www.youtube.com/watch?v=r4irRZcBTy8). Works especially well if the objects are white (as in my case) :-) related to: https://github.com/at-wat/mcl_3dl/issues/187 ( one has to use surface incident angle if doing it correctly )