├── .gitattributes ├── README.md ├── docker ├── Dockerfile └── ros_entrypoint.sh ├── fast_gicp ├── .clang-format ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── data │ ├── 251370668.pcd │ ├── 251371071.pcd │ ├── proctime.png │ └── relative.txt ├── docker │ ├── focal │ │ └── Dockerfile │ ├── focal_cuda │ │ └── Dockerfile │ ├── kinetic │ │ └── Dockerfile │ ├── melodic │ │ └── Dockerfile │ ├── melodic_llvm │ │ └── Dockerfile │ ├── noetic │ │ └── Dockerfile │ └── noetic_llvm │ │ └── Dockerfile ├── include │ └── fast_gicp │ │ ├── cuda │ │ ├── brute_force_knn.cuh │ │ ├── compute_derivatives.cuh │ │ ├── compute_mahalanobis.cuh │ │ ├── covariance_estimation.cuh │ │ ├── covariance_regularization.cuh │ │ ├── fast_vgicp_cuda.cuh │ │ ├── find_voxel_correspondences.cuh │ │ ├── gaussian_voxelmap.cuh │ │ ├── ndt_compute_derivatives.cuh │ │ ├── ndt_cuda.cuh │ │ └── vector3_hash.cuh │ │ ├── gicp │ │ ├── experimental │ │ │ ├── fast_gicp_mp.hpp │ │ │ └── fast_gicp_mp_impl.hpp │ │ ├── fast_gicp.hpp │ │ ├── fast_gicp_st.hpp │ │ ├── fast_vgicp.hpp │ │ ├── fast_vgicp_cuda.hpp │ │ ├── fast_vgicp_voxel.hpp │ │ ├── gicp_settings.hpp │ │ ├── impl │ │ │ ├── fast_gicp_impl.hpp │ │ │ ├── fast_gicp_st_impl.hpp │ │ │ ├── fast_vgicp_cuda_impl.hpp │ │ │ ├── fast_vgicp_impl.hpp │ │ │ └── lsq_registration_impl.hpp │ │ └── lsq_registration.hpp │ │ ├── ndt │ │ ├── impl │ │ │ └── ndt_cuda_impl.hpp │ │ ├── ndt_cuda.hpp │ │ └── ndt_settings.hpp │ │ └── so3 │ │ └── so3.hpp ├── package.xml ├── scripts │ └── runtest_cuda.sh ├── setup.py └── src │ ├── align.cpp │ ├── fast_gicp │ ├── cuda │ │ ├── brute_force_knn.cu │ │ ├── compute_derivatives.cu │ │ ├── compute_mahalanobis.cu │ │ ├── covariance_estimation.cu │ │ ├── covariance_estimation_rbf.cu │ │ ├── covariance_regularization.cu │ │ ├── fast_vgicp_cuda.cu │ │ ├── find_voxel_correspondences.cu │ │ ├── gaussian_voxelmap.cu │ │ ├── ndt_compute_derivatives.cu │ │ └── ndt_cuda.cu │ ├── gicp │ │ ├── experimental │ │ │ └── fast_gicp_mp.cpp │ │ ├── fast_gicp.cpp │ │ ├── fast_gicp_st.cpp │ │ ├── fast_vgicp.cpp │ │ ├── fast_vgicp_cuda.cpp │ │ └── lsq_registration.cpp │ └── ndt │ │ └── ndt_cuda.cpp │ ├── kitti.cpp │ ├── kitti.py │ ├── python │ └── main.cpp │ └── test │ └── gicp_test.cpp ├── hdl_global_localization ├── .clang-format ├── .travis.yml ├── CMakeLists.txt ├── README.md ├── config │ ├── bbs_config.yaml │ ├── fpfh_config.yaml │ ├── general_config.yaml │ ├── ransac_config.yaml │ ├── teaser_config.yaml │ └── test.rviz ├── docker │ ├── melodic │ │ └── Dockerfile │ ├── melodic_llvm │ │ └── Dockerfile │ ├── noetic │ │ └── Dockerfile │ └── noetic_llvm │ │ └── Dockerfile ├── include │ └── hdl_global_localization │ │ ├── bbs │ │ ├── bbs_localization.hpp │ │ └── occupancy_gridmap.hpp │ │ ├── engines │ │ ├── global_localization_bbs.hpp │ │ ├── global_localization_engine.hpp │ │ └── global_localization_fpfh_ransac.hpp │ │ ├── global_localization_results.hpp │ │ └── ransac │ │ ├── matching_cost_evaluater.hpp │ │ ├── matching_cost_evaluater_flann.hpp │ │ ├── matching_cost_evaluater_voxels.hpp │ │ ├── ransac_pose_estimation.hpp │ │ └── voxelset.hpp ├── launch │ └── hdl_global_localization.launch ├── package.xml ├── src │ ├── bbs_test.cpp │ ├── hdl_global_localization │ │ ├── bbs │ │ │ └── bbs_localization.cpp │ │ ├── engines │ │ │ ├── global_localization_bbs.cpp │ │ │ └── global_localization_fpfh_ransac.cpp │ │ └── ransac │ │ │ ├── ransac_pose_estimation.cpp │ │ │ └── voxelset.cpp │ ├── hdl_global_localization_node.cpp │ └── hdl_global_localization_test.cpp └── srv │ ├── QueryGlobalLocalization.srv │ ├── SetGlobalLocalizationEngine.srv │ └── SetGlobalMap.srv ├── hdl_localization ├── .clang-format ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps │ ├── globalmap_server_nodelet.cpp │ └── hdl_localization_nodelet.cpp ├── data │ ├── figs │ │ ├── localization1.png │ │ ├── localization2.png │ │ └── packages.png │ ├── map.pcd │ └── turtlebot3.pcd ├── include │ ├── hdl_localization │ │ ├── delta_estimater.hpp │ │ ├── odom_system.hpp │ │ ├── pose_estimator.hpp │ │ └── pose_system.hpp │ └── kkl │ │ └── alg │ │ └── unscented_kalman_filter.hpp ├── launch │ ├── hdl_localization_2.launch.py │ └── hdl_localization_turtlebot.launch.py ├── msg │ └── ScanMatchingStatus.msg ├── package.xml ├── rviz │ └── hdl_localization_ros2.rviz ├── sample-bag │ └── subset │ │ ├── metadata.yaml │ │ ├── subset_0.db3 │ │ ├── subset_0.db3-shm │ │ └── subset_0.db3-wal ├── scripts │ └── plot_status.py └── src │ └── hdl_localization │ └── pose_estimator.cpp └── ndt_omp ├── .clang-format ├── CMakeLists.txt ├── LICENSE ├── README.md ├── apps └── align.cpp ├── data ├── 251370668.pcd ├── 251371071.pcd └── screenshot.png ├── docker ├── foxy │ └── Dockerfile ├── foxy_llvm │ └── Dockerfile ├── galactic │ └── Dockerfile ├── galactic_llvm │ └── Dockerfile ├── melodic │ └── Dockerfile ├── melodic_llvm │ └── Dockerfile ├── noetic │ └── Dockerfile └── noetic_llvm │ └── 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