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Hello,
I have -only- LMS100 lidar and can create map with hector_slam. My question is hector_slam includes filters like kalman filter or extended kalman filter (EKF)?
If hector_slam itself doesnt include it, how should i do the filter when creating map with hector_slam??
Thanks, Basak
There is no Kalman Filter included in the hector_mapping executable, but the output can be fed to a filtering framework. I think robot_localization is the most used and best documented one. There is also hector_localization, but there is no extensive documentation available.
Yes, it's using a (2D) occupancy gridmap representation.
Asked: 2016-05-30 08:55:41 -0500
Seen: 868 times
Last updated: May 31 '16
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What do you want to achieve with the KF? Do you want to localize in the map built using
hector_slam?actually i dont need to localization(but hector_slam does it anyway-with no odometry data) my graduate thesis is just about mapping but my teacher said "use some filter like kalman to get better results and it should be more academic!" :/ so i'm looking for to do in hector_slam which i currently use
I can't help with that, but here's something you might find useful as you're working on your thesis: http://home.isr.uc.pt/~davidbsp/publi...