Using sparse and noisy PointCloud2

[abylikhsanov]

Hi,

I am using mmWave radars from TI (IWR6843AOP) and wonder which best method will suite from DRL package to perform a localization?

Suppose that I have made a PCL map of the environment (which is also sparse and noisy as the map will be made from the same radars) and want to localize, will you suggest ICP method or NDT?

[carlosmccosta]

Good night,

From the tests I made in the past, ICP typically works better:
https://www.researchgate.net/publication/322664340_Map-Matching_Algorithms_for_Robot_Self-Localization_A_Comparison_Between_Perfect_Match_Iterative_Closest_Point_and_Normal_Distributions_Transform

Have a nice day,