Suitable localization algorithm for IMU + GPS + Wheel Odometry + PointCloud + Laser Scan

asked 2019-01-20 13:34:17 -0600

solkiran gravatar image

updated 2019-01-21 11:16:01 -0600

Hello

I am trying to find a suitable localization algorithm which below data can be fused;

  • IMU
  • GPS
  • Wheel Odometry
  • PointCloud2 (RGBXYZ from Realsense D435)
  • Laser Scan (RPLidar)

I don't have pre-scanned static map so algorithm should run simultaneously. AMCL is not an option in this case I think.

I checked Hector, Rtabmap and some other packages but I couldn't find any package that I can feed all these data. I tried EKF/UKF before but wheel odometry is not working well (probably because of the wheel slip) I am trying to find a way to compansate this. I thought I can use point cloud or laser data to determine my yaw angle (like laser_scan_matcher) but I couldn't figure out how can I use all these data together with laser_scan_matcher. (Any schematic represantation would be perfect! )

Would you please suggest a suitable package for my scenario?

Thank you!

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Comments

1

You could try using an EKF filter to fuse this information. One implementation that is easily configurable is robot_localization

curi_ROS gravatar imagecuri_ROS ( 2019-01-21 03:50:21 -0600 )edit

Sorry for the misunderstanding, I put some more explanation to my question. I tried it but I think I need something like laser scan matcher. But I couldn't figure out how can I use all these data together with laser_scan_matcher

solkiran gravatar imagesolkiran ( 2019-01-21 11:17:00 -0600 )edit