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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR

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some question

Marine98k opened this issue · comments

commented

Thank you for your excellent work. I have a few questions to ask you,

  1. poseEstimator:: odom in correct function_ Does ukf refer to a laser odometer or another odometer

  2. Why is it necessary to perform UKF fusion before performing point cloud registration in the correct function? If the laser odometer is used in the first step, it should be performed first, and NDT-OMP is not specified for calculation in this function.

I am puzzled by the above question and look forward to your reply