NDT score is too low

[BBRAVEV]

The matching result visually seen on rviz is better, but the NDT score is very low



The ndt configuration file is as follows

[YamatoAndo]

It looks to me like the matching result is incorrect 🤔

[liuXinGangChina]

Morning @BBRAVEV

there are several factors that will affect ndt localization

1. please check the downsample parameters inside the pointcloud preprocessing node， try set them lower to increase cloud density
2. env geometry features， edges and none-repeat patterns are essential element for ndt ，for corridor which lack of those you should involve in odometer and imu to increase robustness

happy hacking

lucas