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leggedrobotics / icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).
https://rsl.ethz.ch
BSD 3-Clause "New" or "Revised" License
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Robustness in dynamic environment #10

Closed bxc237 closed 2 years ago

bxc237 commented 2 years ago

Hi, thank you for sharing this great work. I'm wondering if the localization can work reliably in an indoor dynamic environment (like a warehouse with shelves and aisles but the goods/pallets on shelves always change). Thank you!

nubertj commented 2 years ago

Dear @bxc237, Thanks a lot for your message. I think this it is very hard to answer this generally. ICP is solving a least square optimization problem, so as long as the changes are small and somewhat zero-mean gaussian, the registration can still work (e.g. usually given by tree-leafs etc.).

But I assume you have some knowledge of your environment, no? In that case you could try to mask out the inner parts of the shelves, and only use the floor, walls, and static shelf-parts for registration.

Best, Julian