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Laser based localization in a map without movement

asked 2012-06-22 01:07:18 -0500

Poseidonius gravatar image


I am looking for an implementation of a localization algorithm that calculates the best fitting robot position based on a laser scan and a know map. The navigation stack expects odometry measurements and do not support an initial estimation without any movements?

Best wishes from Germany

Enjoy the weekend


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Are you attempting to publish an odometry message or are you trying to provide the initial estimation?

DimitriProsser gravatar image DimitriProsser  ( 2012-06-22 02:56:29 -0500 )edit

I want to provide an initial position estimation.

Poseidonius gravatar image Poseidonius  ( 2012-06-22 19:37:05 -0500 )edit

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answered 2012-06-22 06:02:49 -0500

bhaskara gravatar image

In fuerte, you can check out the FLIRTlib stack: . It's not released yet, but the code and launch files are documented.

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answered 2012-06-25 03:04:17 -0500

DimitriProsser gravatar image

If you're trying to provide an initial pose estimate to the navigation stack, you may want to take a look at a localization algorithm like AMCL. AMCL takes an initial estimate of position in order to localize the robot with respect to its environment.

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Asked: 2012-06-22 01:07:18 -0500

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Last updated: Jun 25 '12