@inproceedings{9b839921102541c5ab7c22547b8ccba4,
title = "A Grid-Based Monte Carlo Localization with Hierarchical Free-Form Scan Matching",
abstract = "This paper is concerned with the localization problem of robot in unstable environment. To improve the accuracy of the localization result in the environment, a grid-based Monte Carlo localization algorithm with hierarchical free-form scan matching (MCL-HF) is proposed. In MCL-HF algorithm the distribution of the samples is adapted by the most recent observation. To simplify the process of the adaptation a feature-based scan-matching algorithm is adopted in the grid-based localization algorithm in a hierarchical free-form. The advantage of the proposed algorithm is demonstrated through the experiment results.",
keywords = "Localization, Particle filter, Scan-matching",
author = "Mei Wu and Hongbin Ma and Xinghong Zhang",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",
year = "2019",
doi = "10.1007/978-3-030-27532-7_33",
language = "English",
isbn = "9783030275310",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "371--380",
editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",
booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",
address = "Germany",
}