Collected sources and patterns will appear here. Add from search, explore, or the patterns library.
(PointCloud, Pose, ProbabilityGrid) -> Pose
Search a discrete window of translations and rotations around an initial pose estimate to find the candidate pose that maximizes the alignment of a point cloud with a probability grid.
Problem it solves
Coarse scan matching is prone to local minima when starting from a poor initial odometry estimate.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.