A DORA-Based 3D Navigation Framework: From LiDAR Point Clouds to Trajectory Planning

Talk overview

This talk walks through a complete 3D navigation stack on a real mobile robot, from raw LiDAR point clouds to wheel commands. Built on the dora dataflow framework, the pipeline covers LiDAR SLAM mapping, NDT and UKF fused relocalization, grid-map generation, A* global planning, and Pure Pursuit trajectory tracking. It closes with an outlook on hierarchical navigation that combines learned and classical methods.