Robust Multi-Robot Global Localization with Unknown Initial Pose based on Neighbor Constraints
Yaojie Zhang,Haowen Luo,Weijun Wang,Wei Feng,Yaojie Zhang,Haowen Luo,Weijun Wang,Wei Feng
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots’ viewpoints. It also makes traditional Appearance-based localization methods unusable. Recently, researchers have utilized the object’s semantic invariance to generate a semantic graph to address this issue. Howeve...
