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perception_oru: ndt_fuser | ndt_map | ndt_map_builder | ndt_mcl | ndt_registration | ndt_visualisation | pointcloud_vrml

Package Summary

ndt_fuser

  • Maintainer: Jari Saarinen <jari.p.saarinen AT gmail DOT com>, Todor Stoyanov <todor.stoyanov AT oru DOT se>, Henrik Andreasson <henrik.andreasson AT oru DOT se>
  • Author: Todor Stoyanov, Jari Saarinen
  • License: BSD
  • Source: git https://github.com/tstoyanov/perception_oru-release.git (branch: upstream)
perception_oru: cmake_modules | ndt_feature_reg | ndt_fuser | ndt_map | ndt_map_builder | ndt_mcl | ndt_registration | ndt_rviz_visualisation | ndt_visualisation | sdf_tracker

Package Summary

ndt_fuser

  • Maintainer: Jari Saarinen <jari.p.saarinen AT gmail DOT com>, Todor Stoyanov <todor.stoyanov AT oru DOT se>, Henrik Andreasson <henrik.andreasson AT oru DOT se>, Tomasz Kucner <tomasz.kucner AT oru DOT se>
  • Author: Todor Stoyanov, Jari Saarinen
  • License: BSD
  • Source: git https://github.com/tstoyanov/perception_oru-release.git (branch: release-source)

Package Summary

ndt_fuser

  • Maintainer: Jari Saarinen <jari.p.saarinen AT gmail DOT com>, Todor Stoyanov <todor.stoyanov AT oru DOT se>, Henrik Andreasson <henrik.andreasson AT oru DOT se>, Tomasz Kucner <tomasz.kucner AT oru DOT se>
  • Author: Todor Stoyanov, Jari Saarinen
  • License: BSD

This package contains code for NDT Fuser - a maximum-likelihood mapping approach with frame-to-model registration.

Documentation

This package implements NDT fusion - a maximum-likelihood mapping approach. There are two main templated classes NDTFuser and NDTFuserHMT. The first class fuses masurements into one single fixed size map. The second class extends this approach by using a grid of submaps that are dynamically stored and loaded from disk. For more details on the NDT Fuser, check out the code API, as well as the tutorials.

Nodes

This package provides one node - ndt_fuser.

ndt_fuser

fuses 2D or 3D range information into an NDT map

Subscribed Topics

~/points (sensor_msgs/PointCloud2) ~/laser_scan (sensor_msgs/LaserScan) ~/odometry (nav_msgs/Odometry)

Published Topics

/tf (tf/tfMessage) /ndt_map (ndt_map/NDTMapMsg)

Services

~/save_map (std_srvs/Empty)

For detailed description and list of parameters, see the tutorial.

Tutorials

A tutorial describing how to set-up an NDT fuser node and use it with your robot is available - Using NDT Fuser to create an NDT map.


2019-08-17 13:00