Nanoflann is a C++ library provided by MRPT for building KD-Trees. The library is a fork of the widely-used FLANN C++ library and is mostly optimized for lower dimensional point clouds. Most ICP algorithms for robot SLAM and localization require finding nearest neighbor in 2D/3D point clouds. Support for dynamic point clouds and nearest neighbour query in non flat spaces are two paramount features which are missing in the current nanoflann library.

Student

Pranjal Kumar Rai

Mentors

  • Jose-Luis Blanco
  • Feroze Naina
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2017