Map Matching with Laser Scan and Static Map

asked 2019-12-02 04:02:18 -0600

BV_Pradeep gravatar image

Hi All,

I working on a Localization and Navigation problem by writing my own version of move base node. I am using AMCL for Localization. I am interested in writing a node for Map - Matching with data association.

Firstly, I am preparing map of my work environment using Gmapping. Then I am running AMCL with initial pose being given from Rviz and Map being served. Now I want to perform a map - matching operation on the data obtained from laser scan and static map for data association. The idea is to generate a map from laser data and match it with static map to find the overlap percentage.

In theory this will improve my localization accuracy.

Please suggest me any resources like papers, tutorials, code etc through which this can be done.

Thank You

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Comments

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Now I want to perform a map - matching operation on the data obtained from laser scan and static map for data association

I'm not sure to propperly understand this, AMCL already do the matching between a static map and the laser scans to localize the robot. Can you clarify a litlle bit more what you want to achieve please ?

Delb gravatar imageDelb ( 2019-12-02 04:29:05 -0600 )edit