https://github.com/koide3/hdl_global_localization

https://github.com/koide3/hdl_global_localization

Last synced: over 1 year ago
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• Host: GitHub
• URL: https://github.com/koide3/hdl_global_localization
• Owner: koide3
• License: bsd-2-clause
• Created: 2021-01-11T08:57:49.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2024-09-06T01:30:00.000Z (almost 2 years ago)
• Last Synced: 2025-03-31T07:05:04.907Z (over 1 year ago)
• Language: C++
• Size: 44.9 KB
• Stars: 191
• Watchers: 9
• Forks: 73
• Open Issues: 7
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# hdl_global_localization

![hdl_global_localization](https://user-images.githubusercontent.com/31344317/105116113-71fc6180-5b0d-11eb-9d85-bbea922dde84.gif)

[![Build Status](https://travis-ci.org/koide3/hdl_global_localization.svg?branch=master)](https://travis-ci.org/koide3/hdl_global_localization) on ROS melodic and noetic

## Requirements

***hdl_global_localization*** requires the following libraries:

- PCL

- OpenCV

- OpenMP

- Teaser++ [optional]

## Services

- ***/hdl_global_localization/set_engine*** (hdl_global_localization::SetGlobalLocalizationEngine)

  - Available global localization engines: BBS, FPFH_RANSAC, FPFH_TEASER

- ***/hdl_global_localization/set_global_map*** (hdl_global_localization::SetGlobalMap)

- ***/hdl_global_localization/query*** (hdl_global_localization::QueryGlobalLocalization)

## Algorithms

- 2D Grid Map-based Branch-and-Bound Search

  - Real-time loop closure in 2D LIDAR SLAM, ICRA, 2016

- FPFH + RANSAC (based on pcl::SampleConsensusPrerejective)

  - Fast Point Feature Histograms (FPFH) for 3D registration, ICRA, 2009

  - Pose Estimation using Local Structure-Specific Shape and Appearance Context, ICRA, 2013

- FPFH + Teaser++

  - TEASER: Fast and Certifiable Point Cloud Registration, T-RO, 2020

## Related packages

- [interactive_slam](https://github.com/koide3/interactive_slam)

- [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam)

- [hdl_localization](https://github.com/koide3/hdl_localization">hdl_localization)

- [hdl_people_tracking](https://github.com/koide3/hdl_people_tracking">hdl_people_tracking)

## Contact

Kenji Koide, k.koide@aist.go.jp

Human-Centered Mobility Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Japan