Corrective Gradient Refinement for mobile robot localization

@article{Biswas2011CorrectiveGR,
  title={Corrective Gradient Refinement for mobile robot localization},
  author={Joydeep Biswas and Brian Coltin and Manuela M. Veloso},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={73-78}
}
Particle filters for mobile robot localization must balance computational requirements and accuracy of localization. Increasing the number of particles in a particle filter improves accuracy, but also increases the computational requirements. Hence, we investigate a different paradigm to better utilize particles than to increase their numbers. To this end, we introduce the Corrective Gradient Refinement (CGR) algorithm that uses the state space gradients of the observation model to improve… CONTINUE READING
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