Modules & Interfaces

Localization

Overview of LIO, 2D odometry, relocalization, and map-alignment modules.

Layer Role

The localization layer is responsible for:

1. continuous local pose estimation such as odom -> base_link
2. global alignment recovery such as map -> odom

Covered Modules

• LIO Overview
• Point-LIO
• Fast-LIO
• rf2o Laser Odometry
• Relocalization

Structure Inside This Layer

• localization/lio/
• localization/relocalization/

Reading Order

1. LIO Overview
2. Point-LIO
3. Relocalization
4. rf2o Laser Odometry