Multi-sensor fusion. EKF/UKF state estimation, camera-LiDAR-IMU calibration, point cloud registration.
name sensor-fusion-pipeline version 1.0.0 description Multi-sensor fusion. EKF/UKF state estimation, camera-LiDAR-IMU calibration, point cloud registration. Sensor Fusion Pipeline EKF State Estimation (robot_localization)
frequency: 50.0 odom0: /wheel_odom odom0_config: [ true , true , false , false , false , true , ... ] imu0: /imu/data imu0_config: [ false , false , false , true , true , true , ... ] Calibration Camera-LiDAR : extrinsic calibration with checkerboard or targetless methods Camera-IMU : use kalibr for spatiotemporal calibration Hand-eye : AX=XB solvers (OpenCV, easy_handeye) Point Cloud Registration import open3d as o3d result = o3d.pipelines.registration.registration_icp( source, target, max_distance= 0.05 , estimation_method=o3d.pipelines.registration.TransformationEstimationPointToPlane()) Key Libraries robot_localization, Open3D, kalibr, kiss-icp