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SLAM package using NDT registration library of Autoware with loop-closure detection (odometry based) referenced from lego_loam.

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jyakaranda/ndt_map

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NDT_MAP

Introduction

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_enabled_1 loop-closure disabled map cloud loop_closure_disabled_1 loop-closure enabled trajectory loop_closure_enabled_2 loop-closure disabled trajectory loop_closure_disabled_2

Dependency

Usage

Input

  • Point Cloud(/lslidar_point_cloud)
  • Odometry(/odom/imu)
  • Imu(/imu/data)
  • TF: /base_link -> /laser, /odom -> /base_link(/tf)

Output

  • (/laser_cloud_surround)

Run the package

  1. Run the launch file:
roslaunch ndt_map test.launch
  1. Play existing bag files test_0515.bag:
rosbag play test_0515.bag --clock --topics

Issues

  • 线程安全
  • 优化点云配准的初始估计
  • 增加非里程计的初始估计(目前在 use_odom 设为 false 的情况下有问题)
  • pitch 的累计误差导致高度漂移问题
  • 目前位姿有抖动情况,尤其是 z 轴,还未检查问题(与定位时的抖动比较像,应该可以一起解决)

TODOs

  • 均值-协方差格式存储/加载 NDT 地图
  • 基于特征点的回环检测
  • 添加 gpu 支持(在 ndt_gpu 库的基础上修改完成)
  • 学习借鉴 Apollo NDT 定位的工程 trick

Reference

  1. autowarefoundation/autoware
  2. RobustFieldAutonomyLab/LeGO-LOAM
  3. NDT 公式推导及源码解析(1)

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SLAM package using NDT registration library of Autoware with loop-closure detection (odometry based) referenced from lego_loam.

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