dom-lee / optimal_shape_generation Goto Github PK

This project forked from umich-bipedlab/optimal_shape_generation

This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results confirm that by using the optimal shape and the global solver, we achieve centimeter error in translation and a few degrees in rotation even when a partially illuminated target is placed 30 meters away!

Home Page: https://arxiv.org/abs/2109.01181

License: GNU Affero General Public License v3.0