Map-based particle filter 3D (6DOF) localization. Map is represented as a geometric 3D model of the environment, in a .obj standard file format. The filter requires, at least, one odometry source and one laser scanner. It can integrate up to three laser scanners on-board the platform. Expected range observations are computed on-line, thanks to the use of the faramotics library, which is based on openGL rendering.
- Author: Andreu Corominas Murtra
- License: LGPL
- Repository: iri-ros-pkg
- Source: svn https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/iri_navigation/trunk/iri_localization3d