most citedEfficient Solution to 3D-LiDAR-based Monte Carlo Localization with Fusion of Measurement Model Optimization via Importance Sampling

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cs.RO2023★ 1 cited

Efficient Solution to 3D-LiDAR-based Monte Carlo Localization with Fusion of Measurement Model Optimization via Importance Sampling

Naoki Akai

This paper presents an efficient solution to 3D-LiDAR-based Monte Carlo localization (MCL). MCL robustly works if particles are exactly sampled around the ground truth. An inertial…