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README_en.md

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NDT_MAP

Introduction

SLAM package using NDT registration library of Autoware with loop-closure detection (odometry based) referenced from lego_loam.

loop-closure enabled map cloud loop_closure_enabled_1 loop-closure disabled map cloud loop_closure_disabled_1 loop-closure enabled trajectory loop_closure_enabled_2 loop-closure disabled trajectory loop_closure_disabled_2

Dependency

  • gtsam(Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2)
  • ndt_cpu
  • ndt_gpu(not used currently)

Usage

Input

  • Point Cloud(/lslidar_point_cloud)
  • Odometry(/odom/imu)
  • Imu(/imu/data)
  • TF: /base_link -> /laser, /odom -> /base_link(/tf)

Output

  • (/laser_cloud_surround)

Run the package

  1. Run the launch file:
roslaunch ndt_map test.launch
  1. Play existing bag files test_0515.bag:
rosbag play test_0515.bag --clock

Issues

  • thread-safe
  • optimize initial guess in point cloud registration
  • add other initial guess support(use_odom need to be set true currently)
  • error estimation of pitch will cause accumulated error of height estimation
  • a little bit shake in pose estimation when playing test_0515.bag (especially in z axis), haven't check it out yet

TODOs

  • save/load NDT map using $(\mu,\Sigma)$ format
  • add appearence based loop-closure detection support
  • add gpu support (based on modified ndt_gpu lib)
  • learning engineering tricks of NDT localization implementation in Apollo

Reference

  1. autowarefoundation/autoware
  2. RobustFieldAutonomyLab/LeGO-LOAM
  3. NDT 公式推导及源码解析（1）