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Build Status

I develop this package every weekend.

Work in progress

90%

Install Requirements

$ git clone https://github.com/yukkysaito/amcl_3d.git <catkin_ws/src path>
$ rosdep install --from-paths <amcl_3d path> -y

TODO

  • add prediction model (particle filter)

Done

  • design interface (particle filter)
  • make ros package template
  • add basic resample function (particle filter)
  • add init function(particle filter)
  • build check (travis ci)
  • resampling timing based on ESS (effective sample size)
  • add simple likelihood model for lidar measurement (particle filter)
  • implement argumented mcl
  • implement kld sampling

Reference

English Reference

General

Effective Sampling Size

Avoidance Numerical Underflow

Japanese Reference

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