FAST_LIO_LOCALIZATION

A simple implementation of FAST-LIO-based localization.

Reference to the design of the localization framework in move_base: use FAST-LIO as the high-frequency local localizer to publish the transformation from camera_init frame to body(LiDAR) frame. This node aligns point cloud observed by LiDAR with map in a low-frequency (depend on motion, like move_base) and corrects the transformation between map frame and camera_init frame.

Acknowledgments

1. The code of the FAST_LIO is not modified, please refer to the original repository.
2. The code for NDT point cloud alignment is referenced from the ndt_matching package in Autoware-AI.
3. The NDT used in this project is ndt_omp, faster than the original NDT in pcl.

Related Works

1. FAST_LIO_LOCALIZATION (Actually I wanted to use this project directly at first, but I did not run it successfully and I was too lazy to debug it, so I wrote my own.)