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HDL Localization

1. Intro

Building a SLAM system based mainly on Lidar

3 main different system

  • Building point cloud map
  • Global localization
  • Relative localization

2. Building Map

Graph optimization + loop closure detection

3. Global Localization

Bound and refine bound

4. Relative Localization

NDT (normal distribution transform)

Or GICP (generalized ICP)