Nice. I don't have a clear plan for localization yet. Right now I am working on deep net based trail following. [1] Eventually I will probably do some kind of vision based localization. [2]
If you can share info on your project I'd love to see it!
I can't unfortunately, work stuff, but definitely check out this if you haven't already https://github.com/xdspacelab/openvslam Also that ethz-asl repo contains a library called libpointmatcher, its pretty awesome if you ever need to do point cloud alignment
I actually have had really good success with it outdoors, much better than indoor. Worth trying out at least, very easy to get started with if you can use docker
