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hdl_global_localization

hdl_global_localization

Build Status on ROS melodic and noetic

Requirements

hdl_global_localization requires the following libraries:

  • PCL
  • OpenCV
  • OpenMP
  • Teaser++ [optional]

Services

  • /hdl_global_localization/set_engine (hdl_global_localization::SetGlobalLocalizationEngine)
    • Available global localization engines: BBS, FPFH_RANSAC, FPFH_TEASER
  • /hdl_global_localization/set_global_map (hdl_global_localization::SetGlobalMap)
  • /hdl_global_localization/query (hdl_global_localization::QueryGlobalLocalization)

Algorithms

  • 2D Grid Map-based Branch-and-Bound Search
    • Real-time loop closure in 2D LIDAR SLAM, ICRA, 2016
  • FPFH + RANSAC (based on pcl::SampleConsensusPrerejective)
    • Fast Point Feature Histograms (FPFH) for 3D registration, ICRA, 2009
    • Pose Estimation using Local Structure-Specific Shape and Appearance Context, ICRA, 2013
  • FPFH + Teaser++
    • TEASER: Fast and Certifiable Point Cloud Registration, T-RO, 2020

Related packages

Contact

Kenji Koide, k.koide@aist.go.jp

Human-Centered Mobility Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Japan