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Model Handler Library

TUM Autonomous Motorsport package for modular handling of prediction models for lidar odometry algorithm

Implemented Formats

  1. ExternalGuess

    • to be used in combination with an external filter (e.g. EKF)
    • initial guess needs to be set to the pipeline before the registration via the pipeline API

  2. Constant Velocity

    • generates initial guess based on constant-velocity assumption (actually constant distance assumption, as only leverage previous poses)
    \[ \vec{T}_t = \vec{T}_{t-1}\,\vec{T}_{t-2}^{-1}\,\vec{T}_{t-1} \]