MSTSL: Multi-Sensor Based Two-Step Localization in Geometrically Symmetric Environments
Zhenyu Wu Yufeng Yue Mingxing Wen Jun Zhang Guohao Peng Danwei Wang Zhenyu Wu Yufeng Yue Mingxing Wen Jun Zhang Guohao Peng Danwei Wang
Symmetric environment is one of the most intractable and challenging scenarios for mobile robots to accomplish global localization tasks, due to the highly similar geometrical structures and insufficient distinctive features. Existing localization solutions in such scenarios either depend on pre-deployed infrastructures which are expensive, inflexible, and hard to maintain; or rely on single senso...