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Re: Localization after mapping session using lidar only

Posted by Bracky on Dec 25, 2022; 4:54pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-after-mapping-session-using-lidar-only-tp9260p9271.html

Hello Mathieu,
First of all merry Christmas and thank you for your feedback. Ok so I can switch to localization mode and provide initial guess of robot's pose using services to try to localize. But I do not get why your are pssimistic about localization. If I have a point cloud that I can match with a map I should be able to localize in this map using the ICP by obtaining the matched transform, right ? as the robot may work at night visual feature matching is not possible :/ Also it could be a great feature in RtabMap !
Anyway, have a nice weekend !