Real-time 3D localization using a (velodyne) 3D LIDAR
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.
hdl_localization requires the following libraries: - PCL - OpenMP
cd /your/catkin_ws/src git clone https://github.com/koide3/ndt_omp git clone https://github.com/SMRT-AIST/fast_gicp --recursive git clone https://github.com/koide3/hdl_localization git clone https://github.com/koide3/hdl_global_localization
cd /your/catkin_ws catkin_make -DCMAKE_BUILD_TYPE=Release
if you want to enable CUDA-accelerated NDT
catkin_make -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON
All configurable parameters are listed in launch/hdl_localization.launch as ros params. The estimated pose can be reset using using "2D Pose Estimate" on rviz
Example bag file (recorded in an outdoor environment): hdl_400.bag.tar.gz (933MB)
rosparam set use_sim_time true roslaunch hdl_localization hdl_localization.launch
roscd hdl_localization/rviz rviz -d hdl_localization.rviz
rosbag play --clock hdl_400.bag
# perform global localization rosservice call /relocalize
If it doesn't work well or the CPU usage is too high, change ndtneighborsearch_method in hdl_localization.launch to "DIRECT1". It makes the scan matching significantly fast, but a bit unstable.
Kenji 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].
Kenji Koide, [email protected]
Active Intelligent Systems Laboratory, Toyohashi University of Technology, Japan [URL] Human-Centered Mobility Research Center, National Institute of Advanced Industrial Science and Technology, Japan [URL]