State Estimation


Localization refers to the process of determining the position and orientation of a robot or object relative to its environment.

The two most popular ways to do localization:

From my practical experience, it is using the LiDAR scans to do Scan Matching on a given map, and then use Particle Filter to converge on the solution.

But what I see, from this paper , and this video, it seems that they fuse GPS + IMU, because I don’t see no LiDAR, and using camera to do localization is kinda card. This which is why they do the run outdoors, and not inside.