Repository Summary
| Checkout URI | https://github.com/vislab-tecnico-lisboa/ekf_localization.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2016-05-11 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ekf_localization | 0.0.2 |
README
ekf_localization
A ROS package for mobile robot localization using an extended Kalman Filter
Description
This repository contains a ROS package for solving the mobile robot localization problem with an extended Kalman Filter.
In this methodology, the Iterative Closest Point (ICP) algorithm is employed for matching laser scans to a grid-based map. The obtained alignment transformation is directly employed to obtain the residual measurement and covariance matrices.
This implementation employs a landmark-free EKF localization algorithm which relies on the transformation obtained by an ICP scan-matcher (between a known map and the laser measurements) as the residual to perform correction after the prediction step.
Furthermore, the method uses the well-studied odometry motion model detailed in [Thrun et al. 2005].