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leggedrobotics / icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).
https://rsl.ethz.ch
BSD 3-Clause "New" or "Revised" License
275 stars 48 forks source link

Slam for map generation (ICP based) #15

Closed Cristian-wp closed 1 year ago

Cristian-wp commented 1 year ago

Hello, I would like to use this package on my ICP based project. I know this is not a good place for this questions but, can you suggest me a good 3D ICP based slam to use with this one?

nubertj commented 1 year ago

hey @Cristian-wp, Check out: https://github.com/leggedrobotics/open3d_slam :)

There is also a localization only option in the meanwhile inside open3d_slam. But we also deployed map creation in open3d_slam and localization using icp_localization successfully in the past, e.g. during the ETH robotics summer school. You can see the corresponding configs and launch files here: https://github.com/ETHZ-RobotX/smb_common/tree/master/smb_slam

nubertj commented 1 year ago

The readme was updated in this commit : adde122b772227f4418109d613510ad2476ff1ca