Temporary maps for robust localization in semi-static environments

@article{MeyerDelius2010TemporaryMF,
  title={Temporary maps for robust localization in semi-static environments},
  author={Daniel Meyer-Delius and J{\"u}rgen Hess and Giorgio Grisetti and Wolfram Burgard},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={5750-5755}
}
Accurate and robust localization is essential for the successful navigation of autonomous mobile robots. The majority of existing localization approaches, however, is based on the assumption that the environment is static which does not hold for most practical application domains. In this paper, we present a localization framework that can robustly track a robot's pose even in non-static environments. Our approach keeps track of the observations caused by unexpected objects in the environment… CONTINUE READING
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