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The dynamic_robot_localization is a ROS package that offers 3 DoF and 6 DoF localization using PCL and allows dynamic map update using OctoMap. It's a modular localization pipeline, that can be configured using yaml files (detailed configuration layout available in drl_configs.yaml and examples of configurations available in guardian_config and dynamic_robot_localization_tests). Even though this package was developed for robot self-localization and mapping, it was implemented as a generic, configurable and extensible point cloud matching library, allowing its usage in related problems such as estimation of the 6 DoF pose of an object and 3D object scanning.
Features
- Examples available
- Documentation available
- DoF localization / mapping of a flying kinect
- Pose estimation for projection mapping
- Robot localization / mappin
- The localization system can operate with any type of sensors that provide point clouds
Project Samples
License
BSD LicenseFollow Dynamic Robot Localization
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