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I am trying to implement a scan matcher using Scan based sensor model but I cant figure out how to estimate likelihood for a particular scan. Is there any implementation available ? Would be thankful for help

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It looks like ROS has a few packages (in rough order of apparent usefulness):

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    $\begingroup$ thnx for your answer @combo . AMCL package contains the implementation I am looking for. $\endgroup$
    – Zain
    Sep 11 '17 at 5:22

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