ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
In ROS these 3 are different implementations. Main difference is methods based on EKF need initial guess and unimodal but particle filter doesnt need initial guess and is multimodal
robot_localization
-> 3D tacking based on Extended Kalman filter with mulitple sensors (multiple odom and multiple IMU..)and provide more functionality (i didnt use it)
robot_pose_ekf
-> 3D tacking based on Extended Kalman filter fusing wheel odometry, IMU sensor and visual odometry. For tracking pose.
amcl
-> 2D localization based on particle filter uses odometry and laser.
2 | No.2 Revision |
In ROS these 3 are different implementations. Main difference is methods based on EKF need initial guess and are unimodal but particle filter doesnt need initial guess and is are multimodal
robot_localization
-> 3D tacking based on Extended Kalman filter with mulitple sensors (multiple odom and multiple IMU..)and provide more functionality (i didnt use it)
robot_pose_ekf
-> 3D tacking based on Extended Kalman filter fusing wheel odometry, IMU sensor and visual odometry. For tracking pose.
amcl
-> 2D localization based on particle filter uses odometry and laser.