Localization

Layer Role

The localization layer is responsible for:

1. continuous local pose estimation such as odom -> base_link
2. keeping a stable map -> odom interface contract for future global-localization / relocalization modules

Covered Modules

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

The GICP relocalization submodule is temporarily disabled because of known stability issues and is no longer initialized as a main-repository submodule.

Structure Inside This Layer

• localization/lio/
• localization/relocalization/ reserved for future global-localization / relocalization modules

Reading Order

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