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xchu_odom

基于NDT算法的激光里程计,参考autoware、ndt_omp

使用

image-20210119115558277

测试结果

kitti测试结果,全长3700m,路口基本对齐,偏移量较小。

image-20201027024048000

更新说明

2020.10.31更新IMU支持,用于补偿连续帧的位置和姿态增量,采用匀速运动模型,以当前点云帧距离最近的imu帧作为其“匀速”。效果如图,表现比较一般,积分有问题,后续再改进。

image-20201030121707292

其他已知问题

  • 轮速计未调试好
  • gpu版本ndt未调试,目前支持autoware_ndt和ndt_omp

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