Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration
Yang Xu,Ronghao Zheng,Senlin Zhang,Meiqin Liu,Yang Xu,Ronghao Zheng,Senlin Zhang,Meiqin Liu
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active simultaneous localization and mapping and exploration always assumed the known robot poses or utilized inaccurate information metrics to approximate pose uncertain...
