localization in existing map

[weisongwen]

Hi,

   Thanks for your excellent work in cartographer. I could create the map using the cartographer with 3D pointCloud2. 

   But, I want to perform the localization in the existing map for a mobile robot, at this case:

1. is there any method that you could recommend ?

2. are your working on the localization function in existing map in terms of the cartographer?

[SirVer]

We are working on this. Please follow #315.

[weisongwen]

Hi, @SirVer

Thanks for your reply!

I will track this issue. Looking forward to your excellent work on "localization in existing map".

apart that, could you pls recommend some method else which may able to perform localization in existing 3D map (such as .pcd file )?

Thanks a lot!
Best regards

[SirVer]

You could always use AMCL, but we have little experience with it.

[weisongwen]

Hi, @SirVer

AMCL is a package used in 2D robot localization instead of 3D localization.

Looking forward your progress in cartographer in terms of localization in existing map.

best regards

[SirVer]

A sorry, yes that is true. I do not know of a 3D localization package that is open source, sorry.

[weisongwen]

Hi, @SirVer

Thanks a lot anyway, I will try other methods later