MRPT
2.0.3
|
MRPT at present offers one SLAM solution for RO-SLAM, integrated into the RBPF-SLAM framework. Refer to this tutorial for more details on the different methods available.
Users can employ 2D or 3D poses in RBPF-SLAM, but notice that RO-SLAM with a RBPF requires a decent odometry as input, which can comprise 2D or 3D robot motion actions.
There are two implementations:
The pf-localization application is a CLI to the underlying C++ class from the library: [mrpt-apps].
Users can employ 2D or 3D odometry as input for 2D or 3D motion estimation. If no odometry is available, using a no-motion mean value with a large uncertainty should work.
The CLI application works with offline data only, for online use, please refer to the underlying class in [mrpt-apps] or use the even most low-level classes:
The ro-localization application is exactly like pf-localization above, but with two differences:
If your sensors do NOT suffer of bias with often, abrupt large changes, the regular PF solution should be preferred (faster, simpler).
Page generated by Doxygen 1.8.17 for MRPT 2.0.3 at Fri May 15 15:49:54 UTC 2020 |