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How can I change code in hector_slam?

asked 2014-02-12 03:37:49 -0600

alex.filgueira gravatar image

updated 2016-10-24 08:59:41 -0600

ngrennan gravatar image

Hi all, Today I have 2 questions. 1º: Where is the file with the Particle filter, or similar, in Hector_SLAM? I suppose that it is connected with hector_mapping but I don´t find the file. 2º: Can I change the number of particles used for Hector_SLAM? In gmapping we use the parameter "particle". If this is possible, where is this data? Thanks for all.

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answered 2014-02-12 05:09:18 -0600

hector_mapping does not use a particle filter, but pose estimation using fast scanmatching that is accurate enough to not require multiple hypotheses (such as in a rao-blackwellized particle filter approach like gmapping) in many real world applications. Thus, there is no particle count that you could increase. You could take a shot at adding a particle filter implementation on top of hector_mapping of course, but that´s a non-trivial change.

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Thanks other time for the answer. Can you tell me where is the file that use this scanmatchig? I want study it. Do a pre-filter not is my solution. Thanks.

alex.filgueira gravatar image alex.filgueira  ( 2014-02-12 21:55:48 -0600 )edit

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Asked: 2014-02-12 03:37:49 -0600

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Last updated: Feb 12 '14