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Tuple<PointCloud, MapPointCloud, PriorPose> -> EstimatedPose
Align a real-time LiDAR point cloud with a 3D reference map using the Normal Distributions Transform to output a high-precision vehicle pose estimate.
Problem it solves
GPS/IMU drift causes inaccurate localization in structured environments.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.