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HKUST-Aerial-Robotics / G3Reg

A fast and robust global registration library for outdoor LiDAR point clouds.
MIT License
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Results of livox data examples #14

Open snow-know opened 1 month ago

snow-know commented 1 month ago

After runing the cmd with livox examples ./bin/demo_reg configs/hit_ms/gem_pagor.yaml examples/data/livox/source.pcd examples/data/livox/target.pcd image

image , where the ground points are separated. The segement results of source.pcd and target.pcd are shown in following: image

image Are there any parameters need to be tuned?

qiaozhijian commented 1 month ago

G3Reg is a global registration method, which provides a coarse pose estimation without any pose prior. If you want to obtain more accurate estimation, please try some local registration methods such as ICP and NDT.