A wide variety of NDT methods

Ndt,normal Distributions Transform Distribution transformation method.

The Normal-distributions transform (NDT) method for registration of 2D data is introduced by Biber and Straßer. The method was first proposed by Biber and Straßer.

The NDT models the distribution of all reconstructed 2d-points of one laser scan by a collection of local normal distribut Ions. First, the 2D space around the robot is subdivided regularly to cells with constant size. Then to each cell, which contains at least three points, the following are done:
1) Collect all 2d-points XI=1..N contained the This box.
2) Calculate the mean Q.
3) Calculate the covariance matrixσ.
The probability of measuring a sample at 2d-point x contained in this cell are now modeled by the normal distribution N (q, Σ).

Standard NDT methods

Multi-scale NDT

Regional growth NDT of cluster ndt/

Ndt-mcl

Reference documents

[1] Peter Biber and Wolfgang straßer. The normal distributions transform:a new approach to laser scan matching. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 2743–2748, Las Vegas, USA, October 2003.

A wide variety of NDT methods