I have managed to use an ICP algorithm to produce a relative pose difference between a new lidar range scan and the previous lidar scan. When I tested it on individual scan pairs, the results look good and exactly as expected.
I have noisy odometry data [x, y, heading angle] in addition to the lidar range data (2D).
How do I actually use my comparison result to localise the robot? Is this possible to do without a typical SLAM technique like a particle filter ? I tried correcting the current odometry reading based on the comparison result, and setting this as my new position estimate of the robot, but the results do not look good. I know I cannot just use the raw odometry data on its own, but I thought correcting the current odometry readings with my relative pose estimate would be somewhat accurate and make the need for a SLAM filter unnecessary.