Map As the Hidden Sensor: Fast Odometry-Based Global Localization
Cheng Peng,David Weikersdorfer,Cheng Peng,David Weikersdorfer
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is able to provide an accurate belief tensor of the robot state. Our method can be used for blind robots in dark or highly reflective areas. In contrast to odometry...
