SLAM package using NDT registration library of Autoware with loop-closure detection (odometry based) referenced from lego_loam.
参考 Autoware 的 ndt_mapping 和 lego_loam 的回环检测实现的建图包。NDT 和 lego_loam 原理见博客。
loop-closure enabled map cloud loop-closure disabled map cloud loop-closure enabled trajectory loop-closure disabled trajectory
/lslidar_point_cloud
)/odom/imu
)/imu/data
)/tf
)/laser_cloud_surround
)roslaunch ndt_map test.launch
rosbag play test_0515.bag --clock --topics
均值-协方差
格式存储/加载 NDT 地图