{"id":41633819,"url":"https://github.com/uos/tsdf_localization","last_synced_at":"2026-01-24T14:40:13.226Z","repository":{"id":149904991,"uuid":"537323671","full_name":"uos/tsdf_localization","owner":"uos","description":"6D Monte Carlo Localization in 3D TSDF maps","archived":false,"fork":false,"pushed_at":"2025-04-12T12:10:18.000Z","size":51680,"stargazers_count":43,"open_issues_count":1,"forks_count":3,"subscribers_count":7,"default_branch":"main","last_synced_at":"2025-09-04T23:27:22.898Z","etag":null,"topics":["lidar","localization","mcl","robotics","ros","tsdf"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/uos.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":"CITATION.cff","codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2022-09-16T05:54:08.000Z","updated_at":"2025-05-30T03:52:48.000Z","dependencies_parsed_at":null,"dependency_job_id":"c52bc884-2e88-4e53-9358-ff77a904203b","html_url":"https://github.com/uos/tsdf_localization","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/uos/tsdf_localization","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Ftsdf_localization","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Ftsdf_localization/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Ftsdf_localization/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Ftsdf_localization/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/uos","download_url":"https://codeload.github.com/uos/tsdf_localization/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/uos%2Ftsdf_localization/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28729983,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-24T10:24:43.181Z","status":"ssl_error","status_checked_at":"2026-01-24T10:24:36.112Z","response_time":89,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"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","mcl","robotics","ros","tsdf"],"created_at":"2026-01-24T14:40:13.155Z","updated_at":"2026-01-24T14:40:13.217Z","avatar_url":"https://github.com/uos.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# TSDF-based 3D Monte Carlo Localization ROS Package\n\nThis package consists of several nodes and tools to perform a 6D Monte Carlo Localization of robots equipped with a 3D LiDAR in 3D TSDF maps.\nThe sensor update is massively accelerated by a GPU-based implementation, but can also be executed on the CPU.\n\n[![Demo GIF](doc/tsdf_loc_teaser.gif)](https://github.com/uos/tsdf_localization_demo.git)\n\n## Prerequisites\n* ROS Noetic (*ros-noetic-desktop-full*)\n* ROS packages: See `package.xml`\n* OpenMP (for CPU acceleration)\n* CUDA (optional, recommended for acceleration)\n\n## Installation\n\n1. Clone this repository into your ROS workspace\n```console\n$ git clone --recursive https://github.com/uos/tsdf_localization.git\n```\n2. Make sure have also installed the required external packages or also cloned them into the local ROS workspace\n\n3. Build the ROS workspace\n```console\n$ catkin build\n```\n\n## Demo\n\nA quick startup including how to use tsdf_localization within your package is shown here: https://github.com/uos/tsdf_localization_demo.git\n\n## Citation\n\nPlease reference the following papers when using `tsdf_localization` in your scientific work.\n \n```bib\n@inproceedings{eisoldt2023tsdfmcl,\n  author={Eisoldt, Marc and Mock, Alexander and Porrmann, Mario and Wiemann, Thomas},\n  booktitle={2023 Seventh IEEE International Conference on Robotic Computing (IRC)}, \n  title={{Towards 6D MCL for LiDARs in 3D TSDF Maps on Embedded Systems with GPUs}}, \n  year={2023},\n  pages={158-165},\n  doi={10.1109/IRC59093.2023.00035}\n}\n```\n\nThe paper is available on [IEEE Xplore](https://ieeexplore.ieee.org/document/10473560) and as preprint on [arXiv](https://arxiv.org/abs/2310.04172).\n\n\n```bib\n@article{eisoldt2025tsdfmcl,\n  author={Eisoldt, Marc and Mock, Alexander and Wiemann, Thomas and Porrmann, Mario},\n  title={Efficient Global 6D Localization in 3D TSDF Maps Using Point-wise and Scan-wise Reduction Methods on Embedded GPUs},\n  journal={International Journal of Semantic Computing},\n  doi={10.1142/S1793351X25410053}\n}\n```\n\nThe paper is available on [World Scientific](https://www.worldscientific.com/doi/abs/10.1142/S1793351X25410053).\n\n\n## Nodes\n\n### mcl_3d\n\nStarts MCL in a given TSDF map.\n\n#### Subscribed Topics:\n\n`initialpose (geometry_msgs/PoseWithCovarianceStamped)`\n\nInitial pose guess can be provided using RViz.\n\n`/cloud (sensor_msgs/PointCloud2)` \n\nPointCloud topic for sensor update.\n\n`/odom (nav_msgs/Odometry)`\n\nOdometry message for motion update.\n\n(optional) `/imu_data (sensor_msgs/Imu)`\n\n#### Services\n\nStart global localization:\n\n`/global_localization`\n\n\n## Contributions\n\nWe are happy about issues and pull requests or other feedback. Please let us know if something did not work out as expected.\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fuos%2Ftsdf_localization","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fuos%2Ftsdf_localization","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fuos%2Ftsdf_localization/lists"}