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As an altermative to AMCL localization, you can take a look at:
| | 2 | No.2 Revision |
As an altermative to AMCL localization, you can take a look at:
Edit: I don't know if it is possible to get such (sub 1cm) precision for global localization (i.e. localization on map), but it is possible for "local" localization, for example docking, where you compare your current scan to some reference scan at final docked position. For this you can use:
Point Cloud Library has ICP algorithm implemented - an example is here. To use it you first have to transform LaserScan message to PCL format. PCL already has some functions implemented to do that. Transform chain is something like geometry_msgs::LaserScan -> geometry_msgs::PointCloud2 -> pcl::PointCloud<pcl::pointxyz>
Andrea Censi's canonical scan matcher - csm. An example how it is used can be seen in laser_scan_matcher package
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