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![NDTに変換
初期位置の設定
入力スキャンのダウンサンプリング
地図と入力スキャンのマッチング
推定位置を更新
地図データ読み込み
入力スキャン読み込み
setInputTarget() [ndt.h]
init() [ndt.h] ‒ ボクセ...](https://image.slidesharecdn.com/201805273d-180527061905/75/NDT-1-3D-PFN-2018-5-27-14-2048.jpg?cb=1666210039)
