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

Dynamic Robot Localization Screenshot 1 Dynamic Robot Localization Screenshot 2 Dynamic Robot Localization Screenshot 3

Project Activity

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Categories

Localization (L10N), Point Cloud

License

BSD License

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Additional Project Details

Operating Systems

Linux, Mac, Windows

Programming Language

C++

Related Categories

C++ Localization (L10N) Software, C++ Point Cloud Software

Registered

2024-07-10
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