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Why does the nav2d_karto mapper.yaml have particles?

asked 2018-06-21 08:27:00 -0500

simff gravatar image


I cannot figure out theoretically why does the Karto Mapper provided in the nav2d package uses also particles for mapping. From the basic SLAM theory I've studied, a graph-based SLAM algorithm does not need particles to maintain and compute the pose of the robot, so what are those particles intended for? Can someone quickly sketch me the main steps of this Karto algorithms used in this package?

Sorry for the quite simple question,


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answered 2018-06-21 12:43:29 -0500

It uses a MCL filter for localization, the particles are for that. Karto itself does not use particles, you're right on the money there. It's scan matching based.

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Hi @smac, thanks for replying! So just for me to fully understand, the front end and back end of the Karto are only use for mapping right?

simff gravatar image simff  ( 2018-06-21 12:53:50 -0500 )edit

karto is for SLAM: localization and mapping. After you have a map built that you're localizing in, that's what the pf is for.

If this answers the question, please hit the check mark so it closes the issue

stevemacenski gravatar image stevemacenski  ( 2018-06-21 15:13:20 -0500 )edit

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Asked: 2018-06-21 08:27:00 -0500

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Last updated: Jun 21 '18