UAV Localization

asked 2016-06-10 09:45:24 -0500


I am trying to perform localization for a UAV using a laser range finder in a map built using octomapping. I don't currently have an odometry source. I won't be able to modify the work environment so visual odom with optitrack or vicon is not an option. I am looking at getting a px4flow in the future when the UAV is actually built, but right now I am just using a hand held proof of concept prototype. Does anyone know if there are any localization packages that will work for this right now? I have looked at humanoid_localization but it requires an odom source and when I tried it along with hector_mapping's pub_odom param there was a great deal of lag. If you can think of something, please let me know.


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Do you still work on humanoid_localization node now? I trying to perform the localization for a autonomous robot in outdoor environments using humanoid_localization based on cotomap. but the accuracy is not as good as expected.

Wen Weisong gravatar image Wen Weisong  ( 2017-06-02 04:09:22 -0500 )edit