Curve Piece Estimate (=SLAM). Attempt to construct a curved trajectory estimate from point cloud data.
''' Curve Piece Estimate
Attempt to construct a curved trajectory estimate from a point cloud of features. (This is SLAM.) Different feature types may be used, but one is used at the moment.
- discontinuity features (dif)
If you use this code, or it helps you in any way, please cite:
Lehtola, V. V., Virtanen, J. P., Vaaja, M. T., Hyyppä, H., & Nüchter, A. (2016). Localization of a mobile laser scanner via dimensional reduction. ISPRS Journal of Photogrammetry and Remote Sensing, 121, 48-59.
Also if you use intrinsic localization (3D point clouds using only one laser scanner/profiler), please cite
Lehtola, V. V., Virtanen, J. P., Kukko, A., Kaartinen, H., & Hyyppä, H. (2015). Localization of mobile laser scanner using classical mechanics. ISPRS Journal of Photogrammetry and Remote Sensing, 99, 25-29.
Uses 3DTK format, http://slam6d.sourceforge.net/
Reads .feature files. Writes .pose and .frames files.
See the example. It contains loop1 data from the first article.
Contributions are welcomed.
Created on Jul 1, 2015
@author: Ville Lehtola, ville.lehtola@iki.fi
'''