# SLAM localization with TOF

Source: https://forum.modalai.com/topic/2775/slam-localization-with-tof
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: mapping
Posted: 2023-10-26 15:48:59 UTC by wilkinsaf
Replies: 2 · Views: 2798

## wilkinsaf · 2023-10-26 15:48:59 UTC

Hello, 

I understand that currently, localization is done through QVIO via the tracking camera. 
For redundancy sake, I was wondering if there is any development work on localization through the TOF camera in tandem with the tracking camera.

Thank you for any information!

## Reply by wilkinsaf · 2023-10-26 18:43:50 UTC

From @James-Strawson 

"we have not, however there are a ton of open source point-cloud based localization methods and VOXL2 is a great platform to try them on!"

## Reply by wilkinsaf · 2023-10-26 18:48:15 UTC

This seems to be a popular ROS2 node that appears to be setup to use lidar: 
https://github.com/SteveMacenski/slam_toolbox

Appears to do localization. We could probably attempt to modify the source code to send VISION_POSITION_ESTIMATE messages to the PX4 instance