Map-based priors for localization

  title={Map-based priors for localization},
  author={Sang Min Oh and Sarah Tariq and Bruce N. Walker and Frank Dellaert},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={2179-2184 vol.3}
Localization from sensor measurements is a fundamental task for navigation. Particle filters are among the most promising candidates to provide a robust and real-time solution to the localization problem. They instantiate the localization problem as a Bayesian altering problem and approximate the posterior density over location by a weighted sample set. In this paper, we introduce map-based priors for localization, using the semantic information available in maps to bias the motion model toward… CONTINUE READING
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