AMCL(Adaptive Monte Carlo Localization) in 3D for ROS.

Install Requirements

$ git clone  https://github.com/rsasaki0109/amcl_3d <catkin_ws/src path>
$ rosdep install --from-paths <amcl_3d path> -y

Demo

wget https://openspur.org/~atsushi.w/dataset/mcl_3dl/short_test.bag

roslaunch amcl_3d amcl_3d_rosbag.launch

Reference

English Reference

General

• http://www.probabilistic-robotics.org/

Effective Sampling Size

• http://www.cns.nyu.edu/~eorhan/notes/particle-filtering.pdf

Avoidance Numerical Underflow

• http://www.maths.lu.se/fileadmin/maths/forskning_research/InferPartObsProcess/particlemethods.pdf

Japanese Reference

• http://lab.cntl.kyutech.ac.jp/~nishida/lecture/psc/no11.pdf
• https://gihyo.jp/book/2018/978-4-7741-9646-6
• https://qiita.com/MoriKen/items/dfb6eb168649873589f0