Dense Mapping IIT Kharagpur

Autonomous Ground Vehicle lab is one of the very few labs in India with state of the art sensors like Velodyne LiDAR, Carnegie MultiSense S7 stereocamera, SICK LiDAR, Microsoft Kinect, etc. Use of this sensors becomes very important for self-driving problem statements. One of the PS is localization of the vehicle which certainly cannot be achieved using only with GPS data. Hence, we instead thought of generating a Map of surrounding (college campus) first and then localizing the vehicle according to instances/features seen by the sensors.

Sensor Used : HDL32E Velodyne 3D LiDAR
Algorithm Used : NDT Mapping
Package Used : Autoware