Online Localization with Imprecise Floor Space Maps using Stochastic Gradient Descent
Zhikai Li,Marcelo H. Ang,Daniela Rus,Zhikai Li,Marcelo H. Ang,Daniela Rus
Many indoor spaces have constantly changing layouts and may not be mapped by an autonomous vehicle, yet maps such as floor plans or evacuation maps of these places are common. We propose a method for an autonomous robot to localize itself on such maps with inconsistent scale using Stochastic Gradient Descent (SGD) with scan matching using a 2D LiDAR. We also introduce a new scale state in 2D local...
