LiDAR-based Indoor Localization with Optimal Particle Filters using Surface Normal Constraints
Heruka Andradi,Sebastian Blumenthal,Erwin Prassler,Paul G. Plöger,Heruka Andradi,Sebastian Blumenthal,Erwin Prassler,Paul G. Plöger
Accurate and robust localization systems are often highly desired in autonomous mobile robots. Existing LiDAR-based localization systems generally use standard particle filters which suffer from the well-known particle degeneracy problem. Furthermore, standard particle filters are ill-suited for handling discrepancies between maps and the actual operating environments. In this work, we present an ...
