Use co-variances to initialize particles

at-wat / mcl_3dl

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.

BSD 3-Clause "New" or "Revised" License

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Use co-variances to initialize particles #258

Closed nhatao closed 4 years ago

nhatao commented 4 years ago

Curently, only diagonal components of co-variance matrix in mcl_3dl::cbPosition(). In addition, mcl_3dl interprets variances as standard deviations.