DepthLocalisation is an open source Stereo/RGBD camera and 3D LiDAR based localisation framework. This framework enables localisation in a premapped environment. Prior mapping can be achieved by using packages like loam_velodyne and LeGO_LOAM. Visual Tracking is used to provide high frequency, low accuracy updates which are corrected by high accuracy depth residual optimization.
This package is effectively an implementation of this publication. This package is built on top of the ROS ecosystem.
This package has been tested on Ubuntu 16.04 & ROS kinetic.
premapped_localization depends on the following libraries:
Installing this package this package:
cd ~/catkin_ws/src
git clone https://github.com/ShreyanshDarshan/premapped_localization.git
cd ~/catkin_ws/
catkin_make