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EKF-based localization library for Gearbox and Player
C++ Ada Python
tree: 78f319481d

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gui
maps
test_box
test_tunel
test_upc
CMakeLists.txt
README
feature.cc
feature.hh
hregions.cc
hregions.hh
localize.cc
localize.hh
matrix.h
params.cc
params.hh
robot_location.cc
robot_location.hh
scan.cc
scan.hh
segment_map.cc
segment_map.hh
sub_opt.cc
sub_opt.hh
transf.cc
transf.hh
types.hh
uloc.cc
uloc.hh

README

This library implements segment-based EKF localization:

"Mobile Robot Localization and Map Building: A Multisensor Fusion Approach"
J.A. Castellanos and J.D. Tardós
Kluwer Academic Publishers, Boston, 1999
ISBN 0-7923-7789-3

Code follows (mostly) Google source code conventions.

Usage interface is via robot_location.hh

Tuning parameters are in params.hh
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