linjohnss/visual_ndt_ros

Visual point cloud ndt_omp matching with prior 3D LiDAR Map

visual_ndt_ros

Overview

ROS base Camera Localization in LiDAR Map, using ndt_omp for 3D-3D point cloud matching.

Installation

This is a ROS package, you can use catkin_make to build it.

ndt_omp

git clone https://github.com/koide3/ndt_omp.git

visual_ndt_ros

git clone https://github.com/linjohnss/visual_ndt_ros.git

Dowe

Download tango dataset

1. pointcloud map : tango_test.pcd from URL
2. rosbag : tango_test.bag from URL

roslaunch visual_ndt_ros demo_tango_ndt.launch

Reference

基於智慧行動裝置的視覺 SLAM 與光達點雲匹配之定位整合研究