State Estimation and Localization Fusion

robot_localization Package

  • Supports EKF/UKF filters
  • Supports multi-sensor input
  • Positioning error reduced by 60%-80%

Application Scenarios

  • Warehouse AGV precise navigation
  • Outdoor inspection robot long-term positioning
  • Autonomous vehicle local positioning

LiDAR SLAM

GMapping

  • 2D particle filter mapping
  • Suitable for small environments (<500㎡)
  • Positioning accuracy: ±2cm

HectorSLAM

  • No odometry required
  • Adapted for UAVs/handheld mobile platforms
  • Positioning error: <3% of travel distance

Google Cartographer

  • Graph optimization algorithm
  • Supports 2D/3D mapping
  • Excellent loop closure detection
  • Mapping accuracy: ±5cm

LOAM Series

  • A-LOAM: High precision
  • LeGO-LOAM: Ground optimization
  • LIO-SAM: Tightly coupled IMU

Selection Recommendations

ScenarioRecommended Solution
Indoor service robotsCartographer / GMapping
Warehouse AGVCartographer + IMU
Autonomous drivingLIO-SAM / LVI-SAM
UAV explorationFAST-LIO2 / LOAM