Particle Filter without Laser Scans match
Hi,
I'm trying to locate a robot inside a map. I have odometry information, IMU, magnetometer, pressure, a 2d map and the initial position inside the map. But I don't have the /scan topic to provide the correction step and use the AMCL package. Is there a way to do localization with those?
I was trying to use or implement a Particle Filter Approach, for the prediction steps I will use sensor fusion, and for the corrective step I wanted to use fiducial markers in the map.
I was looking at this tutorial for Particle Filter and this is something I'm looking want to have.
Thanks very much!
André Castro.
As you've noticed, AMCL works by comparing laser scans to a map to figure out where your robot is. If you don't have laser scans, that doesn't work. The tutorial you linked to is about bfl, not AMCL, and looks like it might be more relevant.
I suggest you reword your question to remove the AMCL references and spend some time describing the sensors that you do have available for localization. It sounds like you might have some other sensors, but as you've described it now you only have an IMU, and you can't do localization with it alone.
Updated the question a bit more. Thanks!