is hector_slam includes any kind of kalman filter? if not, how should i do?

Question

Hello,

I have -only- LMS100 lidar and can create map with hector_slam. My question is hector_slam includes filters like kalman filter or extended kalman filter (EKF)?

If hector_slam itself doesnt include it, how should i do the filter when creating map with hector_slam??

Thanks, Basak

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Originally posted by bsk on ROS Answers with karma: 73 on 2016-05-30

Post score: 0

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Original comments

Comment by spmaniato on 2016-05-30:
What do you want to achieve with the KF? Do you want to localize in the map built using hector_slam ?

Comment by bsk on 2016-05-30:
actually i dont need to localization(but hector_slam does it anyway-with no odometry data) my graduate thesis is just about mapping but my teacher said "use some filter like kalman to get better results and it should be more academic!" :/ so i'm looking for to do in hector_slam which i currently use

Comment by spmaniato on 2016-05-30:
I can't help with that, but here's something you might find useful as you're working on your thesis: http://home.isr.uc.pt/~davidbsp/publications/SPR_SSRR2013_SLAM.pdf

Answer 1

There is no Kalman Filter included in the hector_mapping executable, but the output can be fed to a filtering framework. I think robot_localization is the most used and best documented one. There is also hector_localization, but there is no extensive documentation available.

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Originally posted by Stefan Kohlbrecher with karma: 24361 on 2016-05-31

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by bsk on 2016-05-31:
thanks for the answer, i'm gonna check them. Can i ask a little bit unrelated question? (to the one of the creater of hector_slam :)) is the represantation of map from hector_slam is occuancy grid or something else?

Comment by Stefan Kohlbrecher on 2016-05-31:
Yes, it's using a (2D) occupancy gridmap representation.

Comment by bsk on 2016-06-01:
by the way, does it include or use any kind of filter in hector_slam itself when extracting and building map from laser data, (not in the localization part)?