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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Apache License 2.0
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External Pose update to Cartographer localization #1822

Closed yashmanian closed 2 years ago

yashmanian commented 3 years ago

Hi, I'm not sure if this has been answered in another issue already, but I wasn't able to find anything explicitly stating it in the issues or the documentation. I'm trying to figure out if cartographer (in pure localization mode) has a way to:

  1. Update the localization belief using a relative feature measurement (not from the lidar. Something like an (x, y, theta) in a 2D map)
  2. Receive a global pose update from outside to help nudge its localization belief to make it more accurate over small distances.

I would appreciate some feedback on this. Thank you

shamengjun commented 3 years ago

Maybe add some global landmarks to some help