Lightweight Ground Texture Localization
Aaron Wilhelm,Nils Napp,Aaron Wilhelm,Nils Napp
We present a lightweight ground texture based localization algorithm (L-GROUT) that improves the state of the art in performance and can be run in real-time on single board computers without GPU acceleration. Such computers are ubiquitous on small indoor robots and thus this work enables high-precision, millimeter-level localization without instrumenting, marking, or modifying the environment. The...
