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:
$ cd MRPT_DIR/share/mrpt/config_files/ro-localization/
$ ro-localization UWB_localization_demo.ini
The following video demonstrates the application in operation: