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
If you can share info on your project I'd love to see it!
[1] https://reboot.love/t/new-cameras-on-rover/277/4
[2] https://github.com/ethz-asl/hfnet