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2017-02-01 14:34:31 -0500 asked a question Robot localization for very accurate position

##Scenario I have to do lane following in an environment where lanes are marked on the ground and many obstacles are present in those lanes. At some point, I must leave the lanes and navigate through another complex open area to reach another section of lanes. The course I am navigating is complex and requires a very accurate (less than 1m) mapping.

I already can identify the edges of lanes (including distance and shape) pretty well and I have a Lidar for the obstacles. Additionally, I have encoder, GPS, and IMU values.

##Question My question is this: If I treat the lane markings like obstacles (lines) I would receive from the Lidar and throw them into robot_localization with GPS and/or IMU data, then will I get an accurate position even if that position is only relative to my start point?