Localising UGV using wheel odometry, IMU, LiDAR and sparse topometric map. Algorithm useful in GPS-denied environment and does not require High Definition metric precise maps which are quite sensitive to changes in environment.
Run the following to install required libraries
pip3 install -r requirements.txt
- Maplite -> Source code for the algorithm and few test cases
- Maplite-KITTI -> Implemented Maplite on KITTI Datasets