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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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odom motion model #364

Open liangyongshi opened 3 years ago

liangyongshi commented 3 years ago

I don't quite understand the odometer model used in the code. Is it a model from probabilistic robotics ? If so, which one? thank you

at-wat commented 3 years ago

It's not completely equal to the one in probabilistic robotics book.