How can we estimate the likelihood field for a particular scan in probabilistic terms?

Question

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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Originally posted by ZainMehdi on ROS Answers with karma: 225 on 2017-09-07

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Original comments

Comment by gvdhoorn on 2017-09-08:
Can you please clarify how this is related to ROS? With over 35000 questions, we try to stay on-topic as much as possible.

For more general robotics related questions, I'd refer you to robotics.stackexchange.com.

Answer 1

If anyone is looking for the answer. ROS amcl package contains this implementation as described in the book (Probabilistic Robotics) http://wiki.ros.org/amcl

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Originally posted by ZainMehdi with karma: 225 on 2017-09-11

This answer was ACCEPTED on the original site

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