norlab_icp_mapper documentation

Welcome to the norlab_icp_mapper documentation! norlab_icp_mapper is a library for localization and mapping relying on the "Iterative Closest Point" algorithm. It uses libpointmatcher as backend for point cloud registration and libnabo for fast kd-tree search.

The library is developed by norlab, who also develops and maintains a number of other libraries for robotics and deep learning. Here's a non-exhaustive list:

• imu_odom estimates IMU poses based on ICP poses and accelerometer measurements. Useful when your robot doesn't have access to wheel odometry.
• norlab_controllers is a library with different control algorithms for using robots in the field.
• norlab_controllers_ros is a ROS wrapper for the controller library.

Use the left menu to navigate the documentation. To report bugs, please use our github issue tracker.