Global Localization Over 2D Floor Plans with Free-Space Density Based on Depth Information
Renan Maffei,Diego Pittol,Mathias Mantelli,Edson Prestes,Mariana Kolberg,Renan Maffei,Diego Pittol,Mathias Mantelli,Edson Prestes,Mariana Kolberg
Many applications with mobile robots require self-localization in indoor maps. While such maps can be previously generated by SLAM strategies, there are various localization approaches that use 2D floor plans as reference input. In this paper, we present a localization strategy using floor plan as map, which is based on spatial density information computed from dense depth data of RGB-D cameras. W...
