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

asked 2019-01-20 13:34:17 -0500

solkiran gravatar image

updated 2019-01-21 11:16:01 -0500


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!

edit retag flag offensive close merge delete



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

curi_ROS gravatar image curi_ROS  ( 2019-01-21 03:50:21 -0500 )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 image solkiran  ( 2019-01-21 11:17:00 -0500 )edit