Combine gps with amcl for outdoor navigation
I had a question regarding combining the gps with amcl for a outdoor navigation use case.The procedure is as follows-
1.Using robot localization package fuse the gps,imu and wheel odometry to get a filtered odometry. 2.Since outdoor areas are mainly featureless,the laser observation model cannot be used for weighting the samples of amcl.But the wheel odometry[raw odometry] still generates a not-so-accurate pose,and this needs to be corrected by a observation model.For this correction,use the filtered odometry poses to weight the raw wheel odometry based poses. [coming out of amcl motion model].
The first step is done.But I wanted some validation suggestion on the second step. Any suggestion is greatly appreciated. Thank you.