Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments
Li Sun,Daniel Adolfsson,Martin Magnusson,Henrik Andreasson,Ingmar Posner,Tom Duckett,Li Sun,Daniel Adolfsson,Martin Magnusson,Henrik Andreasson,Ingmar Posner,Tom 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 deeplearned distribution. In particular, a fast localisation system rapidly estimates the 6-DOF pose through...
