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开源软件名称(OpenSource Name):koide3/hdl_localization开源软件地址(OpenSource Url):https://github.com/koide3/hdl_localization开源编程语言(OpenSource Language):C++ 85.5%开源软件介绍(OpenSource Introduction):hdl_localizationhdl_localization is a ROS package for real-time 3D localization using a 3D LIDAR, such as velodyne HDL32e and VLP16. This package performs Unscented Kalman Filter-based pose estimation. It first estimates the sensor pose from IMU data implemented on the LIDAR, and then performs multi-threaded NDT scan matching between a globalmap point cloud and input point clouds to correct the estimated pose. IMU-based pose prediction is optional. If you disable it, the system uses the constant velocity model without IMU information. Requirementshdl_localization requires the following libraries:
The following ros packages are required:
Installationcd /your/catkin_ws/src
git clone https://github.com/koide3/ndt_omp
git clone https://github.com/SMRT-AIST/fast_gicp --recursive
git clone https://github.com/koide3/hdl_localization
git clone https://github.com/koide3/hdl_global_localization
cd /your/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=Release
# if you want to enable CUDA-accelerated NDT
# catkin_make -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON ParametersAll configurable parameters are listed in launch/hdl_localization.launch as ros params. The estimated pose can be reset using using "2D Pose Estimate" on rviz Topics
Services
ExampleExample bag file (recorded in an outdoor environment): hdl_400.bag.tar.gz (933MB) rosparam set use_sim_time true
roslaunch hdl_localization hdl_localization.launch roscd hdl_localization/rviz
rviz -d hdl_localization.rviz rosbag play --clock hdl_400.bag # perform global localization
rosservice call /relocalize If it doesn't work well or the CPU usage is too high, change ndt_neighbor_search_method in hdl_localization.launch to "DIRECT1". It makes the scan matching significantly fast, but a bit unstable. Related packagesKenji Koide, Jun Miura, and Emanuele Menegatti, A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement, Advanced Robotic Systems, 2019 [link]. ContactKenji Koide, [email protected] Active Intelligent Systems Laboratory, Toyohashi University of Technology, Japan [URL] Human-Centered Mobility Research Center, National Institute of Advanced Industrial Science and Technology, Japan [URL] |
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