Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps

  title={Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps},
  author={Alexander Millane and Helen Oleynikova and Juan I. Nieto and Roland Y. Siegwart and C{\'e}sar Cadena},
  journal={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency is maintained, especially in situations where external positioning systems are unavailable or unreliable. Mapping in 2D is an important field in robotics, largely due to the fact that man-made environments such as warehouses and homes, where robots are… 

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