What method does SLAM use for localization?
1 view (last 30 days)
In "Navigation Toolbox", there is "SLAM."
When I use "SLAM" toolbox, there is the function of "lidarSLAM" which performs localization and mapping using lidar scans.
What does lidarSLAM use for localization? particle filtering?
If so, am I not able to see "stateEstimatorPF" function somewhere?
If not, what method is used for localization in "lidarSLAM"?
Ajay Pattassery on 17 Feb 2020
Edited: Ajay Pattassery on 17 Feb 2020
lidarSLAM is a graph-based SLAM implementation. The lidar scans map the environment and are correlated between each other to build an underlying pose graph of the vehicle trajectory.
Refer to the section SLAM under more about in the following document for more information regarding the lidarSLAM.
The relative pose between scans is estimated using the matchScans function. This helps in the localization of the vehicle.
Refer to the following document for more information regarding the matchScans.