BREAKING
hdl_graph_slam: real-time 3D LiDAR SLAM
How the pipeline works
1
NDT scan matching
↓
2
Odometry
↓
3
Loop closure
↓
4
Graph optimization
NDT vs ICP scan matching
NDT
used here
●
Per-voxel normal distributions
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Robust to outliers
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Handles density variation
ICP
●
Iterative closest point
●
More sensitive to noise
Flexible constraints and sensors
BSD-2-Clause, ROS1 only
Classic SLAM still powers robotics
AI NEWS BLITZ
An open-source ROS package for real-time 3D LiDAR SLAM is drawing renewed attention.