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Address likelihood field limitations #314

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hidmic opened this issue Feb 9, 2024 · 0 comments
Open
3 tasks

Address likelihood field limitations #314

hidmic opened this issue Feb 9, 2024 · 0 comments
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enhancement New feature or request meta High-level information or task

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@hidmic
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hidmic commented Feb 9, 2024

Feature description

Beluga's AMCL best performing sensor model is far from perfect. We know our implementation doesn't handle unknown space, we know it completely breaks down when obstacles expand entire regions (and not just a contour). We know we are missing beam skipping functionality. We should address these.

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@hidmic hidmic added enhancement New feature or request meta High-level information or task labels Feb 9, 2024
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