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
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