koide3/hdl_global_localization

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BSD 2-Clause "Sim...
Created almost 4 years ago
Updated 3 months ago

koide3/hdl_global_localization

koide3

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hdl_global_localization

on ROS melodic and noetic

Requirements

hdl_global_localization requires the following libraries:

PCL
OpenCV
OpenMP
Teaser++ [optional]

Services

/hdl_global_localization/set_engine (hdl_global_localization::SetGlobalLocalizationEngine)
- Available global localization engines: BBS, FPFH_RANSAC, FPFH_TEASER
/hdl_global_localization/set_global_map (hdl_global_localization::SetGlobalMap)
/hdl_global_localization/query (hdl_global_localization::QueryGlobalLocalization)

Algorithms

2D Grid Map-based Branch-and-Bound Search
- Real-time loop closure in 2D LIDAR SLAM, ICRA, 2016
FPFH + RANSAC (based on pcl::SampleConsensusPrerejective)
- Fast Point Feature Histograms (FPFH) for 3D registration, ICRA, 2009
- Pose Estimation using Local Structure-Specific Shape and Appearance Context, ICRA, 2013
FPFH + Teaser++
- TEASER: Fast and Certifiable Point Cloud Registration, T-RO, 2020

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Contact

Kenji Koide, [email protected]

Human-Centered Mobility Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Japan

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