ICET: Real Time LIDAR Odometry and Mapping

Written By Matt McDermott

https://github.com/mcdermatt/ICET

This repository contains code for my Iterative Closest Ellipsoidal Transform (ICET) point cloud registration algorithm. Code is structured in a ROS package to demonstrate real-time HD Map generation from raw LIDAR data. Also included is a jupyter notebook with inline 3D visualization so our algorithm can be tested without needing to set up a ROS enviornment on your machine.

Matt McDermott
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