Is NDT the same as lidar in MSF folder?

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Is NDT the same as lidar in MSF folder? #12689

Closed LiuZhenyao closed 3 years ago

LiuZhenyao commented 3 years ago

The localization folder contains three positioning methods: NDT, RTK and MSF. MSF also has positioning_ lidar.cc about lidar localization, Is NDT the same as the method in MSF?

guoweiwan commented 3 years ago

The LiDAR-based localization module in MSF mode is implemented by a distribution-based matching algorithm, which is not NDT. More details please check the paper "Robust and precise vehicle localization based on multi-sensor fusion in diverse city scenes, ICRA, 2018".

apollodevcommunity commented 3 years ago

你好，原理上，两者是一样的。不过在msf中他的触发条件逻辑以及一些参数和单纯使用NDT是不一样的。——回复参考来自Apollo开发者社区issue达人赛 https://apollo.auto/developer/questiondata_cn.html?target=168