Dear ROS-users,

Following up on the interest in 6D localization after my ROSCon talk 
about "ROS for Humanoid Robots", there is now a new package 
"humanoid_localization" available in the humanoid_navigation stack: 
http://ros.org/wiki/humanoid_localization

It enables Monte Carlo localization in a 3D OctoMap based on laser, 
odometry, and IMU to estimate the full 6D torso pose of a humanoid. With 
some modifications, the code may also be relevant e.g. for UAVs. Directs 
support for point clouds from a depth camera will appear soon, and the 
wiki page will also get some final documentation updates.

Relevant publication:
A. Hornung, K. M. Wurm, and M. Bennewitz. "Humanoid Robot Localization 
in Complex Indoor Environments", IROS 2010.


As always, feedback and comments are welcome!

Best regards,

-- 
Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg
Contact: http://www.informatik.uni-freiburg.de/~hornunga