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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)
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.
MICP-L: Mesh ICP for Robot Localization using Hardware-Accelerated Ray Casting. An approach to directly register range sensor data to a mesh in order to localize a mobile robot using hardware-accelerated ray casting correspondences (See publications).
