A pose graph-based localization system for long-term navigation in CAD floor plans

• Published in: Robotics and autonomous systems Vol. 112; pp. 84 - 97
• Main Authors: Boniardi, Federico, Caselitz, Tim, Kümmerle, Rainer, Burgard, Wolfram
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.02.2019
• Subjects: Adaptive systems; Localization; Mapping; Mobile robotics; SLAM; Adaptive systems; Mapping; SLAM; Localization; Mobile robotics

Accurate localization is an essential technology for flexible automation. Industrial applications require mobile platforms to be precisely localized in complex environments, often subject to continuous changes and reconfiguration. Most of the approaches use precomputed maps both for localization and...