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hdl_global_localization package from rdsim repo

rdsim_description rdsim_gazebo rdsim_glim rdsim_interfaces rdsim_localization rdsim_nav2 rdsim_scenario fast_gicp hdl_global_localization hdl_localization ndt_omp

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Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/auturbo/rdsim.git
VCS Type git
VCS Version devel/2wheel_diff
Last Updated 2025-03-05
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The hdl_global_localization package

Additional Links

No additional links.

Maintainers

  • k.koide

Authors

No additional authors.
rdsim_submodules/hdl_localization/hdl_global_localization/README.md

hdl_global_localization

hdl_global_localization

Build Status 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

Contact

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

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

CHANGELOG
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Wiki Tutorials

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Launch files

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Messages

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Services

Plugins

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Recent questions tagged hdl_global_localization at Robotics Stack Exchange

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