Autoware.Auto NDT Localizer Question
Usually NDT algorithms aren't robust to changing environments/landmark removal. Like if there is an empty parking lot during mapping but in the next run there are cars parked/moving and parking it does not localize as well. Is this something that is handled by Autoware.Auto? If not is this a future improvement in the Cargo ODD or is the plan to use an EKF to fuse with other pose estimates and stabilize?
Just a related question: Won't ICP suffer as well in this example of empty vs. filled parking lot?
Yes it does