leggedrobotics/icp_localization
icp_localization
This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).
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leggedrobotics
leggedrobotics • individual
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Jun 9, 2021
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README Summary
This package localizes the lidar sensor in a given map using the ICP algorithm. It subscribes to lidar scans and it registers them in a given map. If provided, it can use odometry or IMU to extrapolate the pose between the two iterations of ICP.
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3D Geometry ProcessingIterative Closest Point AlgorithmKalman FilteringPoint Cloud ProcessingRobotics State EstimationSensor FusionSLAM (Simultaneous Localization and Mapping)
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3D Geometry ProcessingIterative Closest Point AlgorithmKalman FilteringPoint Cloud ProcessingRobotics State EstimationSensor FusionSLAM (Simultaneous Localization and Mapping)AI SafetyForkedHumanoid RoboticsPoint Cloud / 3D VisionRoboticsSLAM
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Updated 3 years ago
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prototype- Quality
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Security & SafetyPrimaryComputer VisionRoboticsSafety & AlignmentOther AI / ML
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C++100.0%
Timeline
- Project created
- Jun 9, 2021
- Forked
- Mar 16, 2026
- Your last push
- 3 years ago
- Upstream last push
- 3 years ago
- Tracked since
- Jan 18, 2023
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