{"id":13436156,"url":"https://github.com/koide3/hdl_localization","last_synced_at":"2025-05-16T04:04:16.602Z","repository":{"id":37493044,"uuid":"118120395","full_name":"koide3/hdl_localization","owner":"koide3","description":"Real-time 3D localization using a (velodyne) 3D LIDAR","archived":false,"fork":false,"pushed_at":"2024-07-26T01:46:59.000Z","size":8812,"stargazers_count":859,"open_issues_count":67,"forks_count":319,"subscribers_count":30,"default_branch":"master","last_synced_at":"2025-04-08T14:08:13.979Z","etag":null,"topics":["lidar","localization","real-time","ros","velodyne"],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-2-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/koide3.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2018-01-19T12:03:08.000Z","updated_at":"2025-04-06T14:42:56.000Z","dependencies_parsed_at":"2024-10-27T19:13:15.773Z","dependency_job_id":"f9aaf5ad-3157-40b3-ab6d-a5dad162806c","html_url":"https://github.com/koide3/hdl_localization","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fhdl_localization","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fhdl_localization/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fhdl_localization/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fhdl_localization/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/koide3","download_url":"https://codeload.github.com/koide3/hdl_localization/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":254464891,"owners_count":22075570,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["lidar","localization","real-time","ros","velodyne"],"created_at":"2024-07-31T03:00:44.815Z","updated_at":"2025-05-16T04:04:16.584Z","avatar_url":"https://github.com/koide3.png","language":"C++","readme":"# New packages arrived\n\nWe released a new open source 3D mapping framework [GLIM](https://github.com/koide3/glim).  \nWe also developed a map-based localization system [GLIL](https://koide3.github.io/glil_pubdoc/) as closed source.\n\n# hdl_localization\n***hdl_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.\n\nVideo:\u003cbr\u003e\n[![hdl_localization](http://img.youtube.com/vi/1EyF9kxJOqA/0.jpg)](https://youtu.be/1EyF9kxJOqA)\n\n[![Build Status](https://travis-ci.org/koide3/hdl_global_localization.svg?branch=master)](https://travis-ci.org/koide3/hdl_global_localization)\n\n## Requirements\n***hdl_localization*** requires the following libraries:\n- PCL\n- OpenMP\n\nThe following ros packages are required:\n- pcl_ros\n- [ndt_omp](https://github.com/koide3/ndt_omp)\n- [fast_gicp](https://github.com/SMRT-AIST/fast_gicp)\n- [hdl_global_localization](https://github.com/koide3/hdl_global_localization)\n\n## Installation\n\n```bash\ncd /your/catkin_ws/src\ngit clone https://github.com/koide3/ndt_omp\ngit clone https://github.com/SMRT-AIST/fast_gicp --recursive\ngit clone https://github.com/koide3/hdl_localization\ngit clone https://github.com/koide3/hdl_global_localization\n\ncd /your/catkin_ws\ncatkin_make -DCMAKE_BUILD_TYPE=Release\n\n# if you want to enable CUDA-accelerated NDT\n# catkin_make -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON\n```\n\n### Support docker :whale:  \n\nUsing docker, you can conveniently satisfy the requirement environment.  \nPlease refer to the repository below and use the docker easily.  \n\n- [Taeyoung96/hdl_localization_tutorial](https://github.com/Taeyoung96/hdl_localization_tutorial)\n\n## Parameters\nAll configurable parameters are listed in *launch/hdl_localization.launch* as ros params.\nThe estimated pose can be reset using using \"2D Pose Estimate\" on rviz\n\n## Topics\n- ***/odom*** (nav_msgs/Odometry)\n  - Estimated sensor pose in the map frame\n- ***/aligned_points***\n  - Input point cloud aligned with the map\n- ***/status*** (hdl_localization/ScanMatchingStatus)\n  - Scan matching result information (e.g., convergence, matching error, and inlier fraction)\n\n## Services\n- ***/relocalize*** (std_srvs/Empty)\n  - Reset the sensor pose with the global localization result\n  - For details of the global localization method, see [hdl_global_localization](https://github.com/koide3/hdl_global_localization)\n\n## Example\n\nExample bag file (recorded in an outdoor environment): [hdl_400.bag.tar.gz](http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz) (933MB)\n\n```bash\nrosparam set use_sim_time true\nroslaunch hdl_localization hdl_localization.launch\n```\n\n```bash\nroscd hdl_localization/rviz\nrviz -d hdl_localization.rviz\n```\n\n```bash\nrosbag play --clock hdl_400.bag\n```\n\n```bash\n# perform global localization\nrosservice call /relocalize\n```\n\n\u003cimg src=\"data/figs/localization1.png\" height=\"256pix\" /\u003e \u003cimg src=\"data/figs/localization2.png\" height=\"256pix\" /\u003e\n\nIf 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.\n\n## Related packages\n\n- [interactive_slam](https://github.com/koide3/interactive_slam)\n- \u003ca href=\"https://github.com/koide3/hdl_graph_slam\"\u003ehdl_graph_slam\u003c/a\u003e\n- \u003ca href=\"https://github.com/koide3/hdl_localization\"\u003ehdl_localization\u003c/a\u003e\n- \u003ca href=\"https://github.com/koide3/hdl_global_localization\"\u003ehdl_global_localization\u003c/a\u003e\n- \u003ca href=\"https://github.com/koide3/hdl_people_tracking\"\u003ehdl_people_tracking\u003c/a\u003e\n\n\u003cimg src=\"data/figs/packages.png\"/\u003e\n\nKenji 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]](https://www.researchgate.net/publication/331283709_A_Portable_3D_LIDAR-based_System_for_Long-term_and_Wide-area_People_Behavior_Measurement).\n\n## Contact\nKenji Koide, k.koide@aist.go.jp\n\nActive Intelligent Systems Laboratory, Toyohashi University of Technology, Japan [\\[URL\\]](http://www.aisl.cs.tut.ac.jp)\nHuman-Centered Mobility Research Center, National Institute of Advanced Industrial Science and Technology, Japan  [\\[URL\\]](https://unit.aist.go.jp/rirc/en/team/smart_mobility.html)\n\n\n","funding_links":[],"categories":["C++","5 Localization and SLAM"],"sub_categories":["3.4 High Performance Inference"],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkoide3%2Fhdl_localization","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkoide3%2Fhdl_localization","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkoide3%2Fhdl_localization/lists"}