Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments

4 Mar 2020Li SunDaniel AdolfssonMartin MagnussonHenrik AndreassonIngmar PosnerTom Duckett

This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely through seeding Monte Carlo Localisation (MCL) with a deep-learned distribution... (read more)

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