MegaParticles: Range-based 6-DoF Monte Carlo Localization with GPU-Accelerated Stein Particle Filter
Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno,Kenji Koide,Shuji Oishi,Masashi Yokozuka,Atsuhiko Banno
This paper presents a 6-DoF range-based Monte Carlo localization method with a GPU-accelerated Stein particle filter. To update a massive amount of particles, we propose a Gauss-Newton-based Stein variational gradient descent (SVGD) with iterative neighbor particle search. This method uses SVGD to collectively update particle states with gradient and neighborhood information, which provides effici...
