NDT方法在SLAM中的應用

NDT概念

正态分布變換（NormalDistribution Transformation , NDT）

機率密度函數（ ProbabilityDensity Function, PDF）

First proposed for two dimensional scandata registration by Biber & Strasser in 2003.

An NDT is described as a set of PDFs. 

The first step of the algorithm is tosubdivide the space occupied by the scan into a grid of cells (squares in the2D case, or cubes in 3D). 

A PDF is computed for each cell, based onthe point distribution within the cell.

http://www.cnblogs.com/yhlx125/p/5749770.html