├── CMakeLists.txt ├── README.md ├── README_CN.md ├── config └── localization_config.yaml ├── include ├── error_estimater │ ├── error_estimater.h │ └── voxelset.h ├── global_localization │ ├── bbs_localization.h │ ├── global_localization.h │ └── occupancy_gridmap.h ├── laser_odometry │ └── laser_odometry.h └── localization │ ├── UKF.h │ ├── localization.h │ └── tools.h ├── launch ├── kitti_test.py ├── localization.py └── single_laser.py ├── map ├── frame.pcd ├── map.pcd └── pos.txt ├── package.xml ├── src ├── error_estimater │ ├── error_estimater.cpp │ └── voxelset.cpp ├── global_localization │ ├── bbs_localization.cpp │ └── global_localization.cpp ├── laser_odometry │ └── laser_odometry.cpp ├── localization │ ├── UKF.cpp │ ├── localization.cpp │ └── tools.cpp └── main.cpp └── test ├── read_map.cpp ├── test_error.cpp ├── test_global_localization.cpp ├── test_kitti.cpp ├── test_laser_odom.cpp └── test_odom.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/README.md -------------------------------------------------------------------------------- /README_CN.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/README_CN.md -------------------------------------------------------------------------------- /config/localization_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/config/localization_config.yaml -------------------------------------------------------------------------------- /include/error_estimater/error_estimater.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/error_estimater/error_estimater.h -------------------------------------------------------------------------------- /include/error_estimater/voxelset.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/error_estimater/voxelset.h -------------------------------------------------------------------------------- /include/global_localization/bbs_localization.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/global_localization/bbs_localization.h -------------------------------------------------------------------------------- /include/global_localization/global_localization.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/global_localization/global_localization.h -------------------------------------------------------------------------------- /include/global_localization/occupancy_gridmap.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/global_localization/occupancy_gridmap.h -------------------------------------------------------------------------------- /include/laser_odometry/laser_odometry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/laser_odometry/laser_odometry.h -------------------------------------------------------------------------------- /include/localization/UKF.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/localization/UKF.h -------------------------------------------------------------------------------- /include/localization/localization.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/localization/localization.h -------------------------------------------------------------------------------- /include/localization/tools.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/include/localization/tools.h -------------------------------------------------------------------------------- /launch/kitti_test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/launch/kitti_test.py -------------------------------------------------------------------------------- /launch/localization.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/launch/localization.py -------------------------------------------------------------------------------- /launch/single_laser.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/launch/single_laser.py -------------------------------------------------------------------------------- /map/frame.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/map/frame.pcd -------------------------------------------------------------------------------- /map/map.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/map/map.pcd -------------------------------------------------------------------------------- /map/pos.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/map/pos.txt -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/package.xml -------------------------------------------------------------------------------- /src/error_estimater/error_estimater.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/error_estimater/error_estimater.cpp -------------------------------------------------------------------------------- /src/error_estimater/voxelset.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/error_estimater/voxelset.cpp -------------------------------------------------------------------------------- /src/global_localization/bbs_localization.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/global_localization/bbs_localization.cpp -------------------------------------------------------------------------------- /src/global_localization/global_localization.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/global_localization/global_localization.cpp -------------------------------------------------------------------------------- /src/laser_odometry/laser_odometry.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/laser_odometry/laser_odometry.cpp -------------------------------------------------------------------------------- /src/localization/UKF.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/localization/UKF.cpp -------------------------------------------------------------------------------- /src/localization/localization.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/localization/localization.cpp -------------------------------------------------------------------------------- /src/localization/tools.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/localization/tools.cpp -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/src/main.cpp -------------------------------------------------------------------------------- /test/read_map.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/test/read_map.cpp -------------------------------------------------------------------------------- /test/test_error.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/test/test_error.cpp -------------------------------------------------------------------------------- /test/test_global_localization.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/test/test_global_localization.cpp -------------------------------------------------------------------------------- /test/test_kitti.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/test/test_kitti.cpp -------------------------------------------------------------------------------- /test/test_laser_odom.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/test/test_laser_odom.cpp -------------------------------------------------------------------------------- /test/test_odom.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/linyicheng1/laser_localization/HEAD/test/test_odom.cpp --------------------------------------------------------------------------------