Data Structures

class  LaserScannerSelfLocalisation
 The class LaserScannerSelfLocalisation implements a self localisation strategy. More...

Detailed Description

The component LaserScannerSelfLocalisation is responsible for self localisation of a platform in a predefined two dimensional map.

The odometry is used as a primary source for determining the current position of the platform. Since this method leads to unbounded errors, we also use the laser scanners to correct the estimated position. This is done by matching the laser scan input to edges of a predefined map.

This method requires a good estimate of the initial position at startup because the correction by the laser scans can only correct small errors.