Application: ro-localization

1. Overview

The application ro-localization implements a particle filter for localization (aka Markov Localization) for a mobile robot using odometry, a set of known fixed beacons. The sequence of robot observations is taken from a dataset file (rawlog): it is not intended for real-time operation on a robot, though the source code requires little modification to do so.

2. Usage example

A sample configuration file can be found in share/mrpt/config_files/ro-localization/, and corresponding dataset files for Ultra-Wide-Band (UWB) radio beacons, in share/mrpt/datasets, so you can try it by doing:

The following video demonstrates the application in operation: