Mapping

Contents

• Gaussian grid map
• Normal Distance Transform (NDT) map
  • Normal Distribution
  • Normal Distance Transform mapping steps
  • API
• Ray casting grid map
• Lidar to grid map
• Point cloud Sampling
  • Voxel Point Sampling
  • Farthest Point Sampling
  • Poisson Disk Sampling
• k-means object clustering
• Object shape recognition using circle fitting
• Object shape recognition using rectangle fitting
  • Step1: Adaptive range segmentation
  • Step2: Rectangle search
  • API
  • References
• Normal vector estimation
  • Normal vector calculation of a 3D triangle
  • Normal vector estimation with RANdam SAmpling Consensus(RANSAC)