基于NDT算法的激光里程计,参考autoware、ndt_omp
kitti测试结果,全长3700m,路口基本对齐,偏移量较小。
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。
- 轮速计未调试好
- gpu版本ndt未调试,目前支持autoware_ndt和ndt_omp
This project forked from pipigenius/xchu_odom
xchu odom
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