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koide3
345 Stars 209 Forks BSD 2-Clause "Simplified" License 58 Commits 38 Opened issues

Description

Real-time 3D localization using a (velodyne) 3D LIDAR

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hdl_localization

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.

Video:
hdl_localization

Build Status

Requirements

hdl_localization requires the following libraries: - PCL - OpenMP

The following ros packages are required: - pcl_ros - ndt_omp - fast_gicp - hdlgloballocalization

Installation

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

Parameters

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

Topics

  • /odom (nav_msgs/Odometry)
    • Estimated sensor pose in the map frame
  • /aligned_points
    • Input point cloud aligned with the map
  • /status (hdl_localization/ScanMatchingStatus)
    • Scan matching result information (e.g., convergence, matching error, and inlier fraction)

Services

  • /relocalize (std_srvs/Empty)
    • Reset the sensor pose with the global localization result
    • For details of the global localization method, see hdlgloballocalization

Example

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.

Related packages

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].

Contact

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]

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