Ask Your Question
0

Laser based localization in a map without movement

asked 2012-06-22 01:07:18 -0600

Poseidonius gravatar image

Hi,

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

Poseidonius

edit retag flag offensive close merge delete

Comments

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

DimitriProsser gravatar imageDimitriProsser ( 2012-06-22 02:56:29 -0600 )edit

I want to provide an initial position estimation.

Poseidonius gravatar imagePoseidonius ( 2012-06-22 19:37:05 -0600 )edit

2 Answers

Sort by ยป oldest newest most voted
2

answered 2012-06-22 06:02:49 -0600

bhaskara gravatar image

In fuerte, you can check out the FLIRTlib stack: http://kforge.ros.org/projects/startuploc/services/git/ . It's not released yet, but the code and launch files are documented.

edit flag offensive delete link more
0

answered 2012-06-25 03:04:17 -0600

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2012-06-22 01:07:18 -0600

Seen: 427 times

Last updated: Jun 25 '12