Map-based particle filter 3D localization (6DOF). Map is represented as a geometric 3D model of the environment, in a .obj standard file format.
The filter requires, at least, one odometry source and one laser scanner. It can integrate up to three laser scanners on-board the platform.
Expected range observations are computed on-line, thanks to the use of the faramotics library, which is based on openGL rendering.
localization3d_node is ...