https://github.com/rsasaki0109/normaldistributiontransform2d
Python sample code of 2D NDT Scan Matching
https://github.com/rsasaki0109/normaldistributiontransform2d
lidar localization mapping ndt robotics slam
Last synced: 7 months ago
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Python sample code of 2D NDT Scan Matching
- Host: GitHub
- URL: https://github.com/rsasaki0109/normaldistributiontransform2d
- Owner: rsasaki0109
- License: mit
- Created: 2023-04-17T11:19:27.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2023-12-05T18:54:26.000Z (about 2 years ago)
- Last Synced: 2023-12-05T19:44:02.010Z (about 2 years ago)
- Topics: lidar, localization, mapping, ndt, robotics, slam
- Language: Python
- Homepage:
- Size: 294 KB
- Stars: 22
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Python sample code of 2D NDT Scan Matching
This Python script demonstrates a 2D scan matching algorithm called Normal Distributions Transform (NDT) for aligning two point clouds.
## Usage
```bash
python script/normal_distributions_transform.py
```
.
## Results
The source points (red), target points (blue), and transformed source points (green).
```
True transform: [0.1 0.2 0.26179939]
Estimated transform: [0.11679415 0.28055845 0.25984399]
```
This code is inspired by [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics).