Use NDT scan matching for vehicle localization

Project Steps

There are three major steps to the project.

Step 1: Filter scan using voxel filter

The first step makes use of cloudFiltered and scanCloud to filter the point cloud using a voxel grid.

Step 2: Find pose transform by NDT matching

Use NDT matching to find the pose transformation. Use getPose() on the 4D transform matrix to get the Pose object.

Step 3: Transform the scan so it aligns with ego's actual pose and render that scan

Transform the filtered scan using the calculated transform into a new point cloud using pcl.

Results

Demo video is below.