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Recommended ways to improve 3D localization?

asked 2022-09-02 22:38:19 -0500

MrOCW
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updated 2023-03-09 08:32:49 -0500

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Hi, I am using NDT/GICP to localize my robot in a 3D map. Are there any recommended ways to improve the localization?

1) Will using voxel grid filter on my lidar help?

2) Should I exclude ground points from the 3D Map?

3) Will decreasing the max distance of the lidar points improve or deteriorate localization performance?

Thanks!

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Asked: 2022-09-02 22:38:19 -0500

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Last updated: Sep 02 '22

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