ekf_localization repository

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
Package 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].

CONTRIBUTING

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