FSD localization package

This ROS package implements the Monte Carlo Localization technique using Free-Space Density (FSD) as observation model.
source code:
related paper: Maffei et al. Global Localization Over 2D Floor Plans with Free-Space Density Based on Depth Information. IEEE IROS 2020.

Localization based on free-space information given by a kernel density estimate computed in the robot position.