FloorplanNet: Learning Topometric Floorplan Matching for Robot Localization
Delin Feng,Zhenpeng He,Jiawei Hou,Sören Schwertfeger,Liangjun Zhang,Delin Feng,Zhenpeng He,Jiawei Hou,Sören Schwertfeger,Liangjun Zhang
Given a building floorplan, humans can localize themselves by matching the observation of the environment with the floorplan using geometric, semantic, and topological clues. Inspired by this insight, this paper proposes a learning- based topometric robot localization method FloorplanNet, which implements a match between a metric robot map and the potentially inaccurate building floorplan in nonun...
