indt_localization是一种基于增量式NDT算法的激光定位框架,其核心思想是将激光雷达扫描数据与瓦片点云地图进行匹配,实现高精度的定位和导航。该框架具有以下特点: 1. 基于增量式NDT算法,能够实现实时的高精度激光定位。 2. 结合瓦片点云地图,能够实现高效的地图加载和卸载。 3. 支持多种传感器融合,如GPS、IMU等,...
#include "modules/localization/ndt/localization_pose_buffer.h" #include "modules/localization/ndt/ndt_locator/lidar_locator_ndt.h" #include "modules/common_msgs/localization_msgs/gps.pb.h" #include "modules/common_msgs/localization_msgs/localization.pb.h" #include "modules/transform/buffer.h"ndt_...
Create and visualize an NDT map from a point cloud map. voxelSize = 1; ndtMap = pcmapndt(ptCloudMap,voxelSize); figure show(ndtMap) view(2)% Change viewing angle to top-view Lidar Localization Using NDT Load a normal distributions transform (NDT) map from a MAT file. ...
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typedef apollo::localization::msf::pyramid_map::NdtMapNode NdtMapNode typedef apollo::localization::msf::pyramid_map::NdtMapCells NdtMapCells typedef apollo::localization::msf::pyramid_map::NdtMapNodePool NdtMapNodePool typedef apollo::localization::msf::pyramid_map::NdtMapMatrix NdtMapMatrix typedef...
A normal distributions transform (NDT) method for LiDAR point cloud localization in unmanned driving is provided. The method proposes a non-recursive, memory-efficient data structure occupation-aware-voxel-structure (OAVS), which speeds up each search operation. Compared with a tree-based structure,...
NDT_CUDA_D2D when i use the reg_method=NDT_CUDA_D2D, An error has occurred: terminate called after throwing an instance of 'thrust::system::system_error' what(): for each:failed to synchronize: cudaErrorIllegalAddress: an illegal memory acess was encountered...
The invention relates to an industrial testing device communicating with a data center located in a remote computer network, such as the cloud. Disclosed is a method of registering the device to the cloud and specifying the geographical location of the data center.EHAB GHABOUR...
The invention relates to an industrial testing device communicating with a data center located in a remote computer network, such as the cloud. Disclosed is a method of registering the device to the cloud and specifying the geographical location of the data center.Ehab GHABOUR...
在文件 ndt_map.cc 第23 行定义. 23: BaseMap(config) {}◆ ~NdtMap()apollo::localization::msf::NdtMap::~NdtMap ( ) 在文件 ndt_map.cc 第25 行定义. 25{}成员函数说明◆ LoadMapArea()bool apollo::localization::msf::NdtMap::LoadMapArea ( const Eigen::Vector3d & seed_pt3d, unsigne...