5.2. Localization
Localization is used to provide real-time relative localization information or global localization information, this project includes the following two modules:
msf_localization is a fusion localization module based on the ESKF framework, which can provide relative localization information based only on imu+wheel speed and global localization information fused with point cloud localization results. This module can also access other sensor observations for subsequent expansion;
lidar_localization is a point cloud localization module based on point cloud maps, using ceres for optimization, using pcl for point cloud processing.
The computational platforms currently supported by this algorithm are listed in the table below:
| Computing Platform | General X86 Architecture Computers | Radxa ROCK5B+ | OrangePi 5 Ultra | NVIDIA Jetson Orin Nano Super | NVIDIA Jetson AGX Orin | D-Robotics RDK X5 |
| ● | ● | ● | ● | ● | ● | |
| Sensor | AC1 | |||||
| Mobile Robot | Wheeled Mobile Platform | |||||
This video demonstrates the real-time localization effect of a mobile wheeled vehicle on supported computing platforms.
Video Data: Mobile wheeled vehicle
Source Code: AC1 Locatization