Implementation of SE-NDT SLAM as in IROS2019 Dependencies: Eigen, PCL, Tensorflow(only if pointnet is used), ROS. To use: git clone --recurse-submodules https://github.com/azaganidis/se_ndt mkdir se_ndt/build cd se_ndt/build cmake .. make -j4 ./ros_register On a new terminal: cd se_ndt/pointnet2 python RosClassify.py If python complains about not finding shared object files, you have to rebuild the PointNet++ libs, in the folder tf_ops. Simple usage example of the registration at src/simple_registration.cpp PointNet++ building with: cd se_ndt/pointnet2/deploy/build cmake ..