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Mapping-based localization based on normal distribution transform

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Name		Name	Last commit message	Last commit date
Latest commit History 1 Commit
LiDAROdometry		LiDAROdometry
amsi		amsi
velodyne		velodyne
velodyne_driver		velodyne_driver
velodyne_msgs		velodyne_msgs
velodyne_pointcloud		velodyne_pointcloud
README.md		README.md
README.md~		README.md~

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map-based localization based on NDT matching for autonomous vehicle

Localization (https://github.com/weisongwen/Autoware/tree/master/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching).

Extracted package from Autoware. Tests shows that the Autoware have good multi-threads working performance.

Spec Recommendation

Number of CPU cores: 8
RAM size: 32GB
Storage size: 30GB

Requirements

ROS jade (Ubuntu 14.04)
OpenCV 2.4.10 or higher
Qt 5.2.1 or higher
CUDA(Optional)
FlyCapture2 (Optional)
Armadillo (Optional)

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Mapping-based localization based on normal distribution transform

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