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We have a 6D localization running in an OctoMap for our humanoid robots. You can find details in the publication "Humanoid Robot Localization in Complex Indoor Environments". It's runnning MCL (particle filtering) and uses ray casting for the sensor model. If there is interest, I can also publish the code after some cleanup.

If you want to implement your own localization, you can use the function castRay in OctoMap.

We have a 6D localization running in an OctoMap for our humanoid robots. You can find details in the publication "Humanoid Robot Localization in Complex Indoor Environments". It's runnning MCL (particle filtering) and uses ray casting for the sensor model. If there is interest, I can also publish the code after some cleanup.

If you want to implement your own localization, you can use the function castRay in OctoMap.

In terms of map building, planning, and collision checking in an OctoMap look at the 3d_navigation stack and the publication "Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation".

We have a 6D localization running in an OctoMap for our humanoid robots. You can find details in the publication "Humanoid Robot Localization in Complex Indoor Environments". It's runnning MCL (particle filtering) and uses ray casting for the sensor model. If there

The code is interest, I now published at http://ros.org/wiki/humanoid_localization

It's mostly designated for humanoid robots and still being polished right now, but I'm sure you can also publish use much of the sensor model code after some cleanup.as example.

If you want to implement your own localization, you can use the function castRay in OctoMap.

In terms of map building, planning, and collision checking in an OctoMap look at the 3d_navigation stack and the publication "Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation".