Search Results for "ndt"

...The material begins with geometry, kinematics, Kalman filtering, inertial navigation, preintegration, and graph optimization. It then implements point-cloud processing, nearest-neighbor structures, ICP, NDT, scan matching, occupancy grids, and loop closure. Readers build both loosely coupled and tightly coupled LiDAR-inertial odometry systems. Later modules cover offline mapping, backend optimization, tiled map export, map loading, initialization, and fused real-time localization. The repository includes configuration files, Docker support, demonstrations, and datasets for urban, campus, road, mall, and solid-state LiDAR scenarios.