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Alexander Mock edited this page Apr 23, 2024 · 3 revisions
RMCL

Software Tools for Mobile Robot Localization in 3D Meshes

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Documention

UNDER CONSTRUCTION: This page is going to be filled with documentation soon:

  • RMCL executables with parameters (User-level)
  • RMCL library including registration and particle filtering algorithms (Dev-level)

Mission

This repository contains algorithms designed for map-based robot localization, specifically when dealing with maps composed of triangle meshes or complete scene graphs. These maps may be provided by architects who have designed the building in which the robot operates, or they can be autonomously generated by the robot through Simultaneous Localization and Mapping (SLAM) methods. It's crucial to note that map-based localization differs from SLAM; it focuses on estimating the robot's pose within a potentially large map, whether the initial pose is roughly known (tracking) or entirely unknown from the start aka kidnapped robot problem. Map-based localization is essential for precisely planning the robot's missions in a given map.

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