We present MUREA (MUlti-Resolution Evidence Accumulation): a mobile robot localization method for known 2D environments. It is an evidence accumulation method where the complexity is reduced by means of a multi-resolution scheme. The added value of the contribution, in the authors opinion, are 1) the method per sé; 2) the capability of the system to accept both raw sensor data as well as independently generated localization estimates; 3) the capability of the system to give out a (less) accurate estimate whenever asked to do so (e.g. before its regular completion), which could be called any-time localization. © Springer-Verlag Berlin Heidelberg 2003.
Restelli, M., Sorrenti, D., Marchese, F. (2003). MUREA: A MUlti-Resolution Evidence Accumulation method for robot localization in known environments. In RoboCup 2002: Robot Soccer World Cup VI (pp.351-358). Berlin, Heidelberg : Springer Verlag [10.1007/978-3-540-45135-8_30].
MUREA: A MUlti-Resolution Evidence Accumulation method for robot localization in known environments
Sorrenti, D;Marchese, F
2003
Abstract
We present MUREA (MUlti-Resolution Evidence Accumulation): a mobile robot localization method for known 2D environments. It is an evidence accumulation method where the complexity is reduced by means of a multi-resolution scheme. The added value of the contribution, in the authors opinion, are 1) the method per sé; 2) the capability of the system to accept both raw sensor data as well as independently generated localization estimates; 3) the capability of the system to give out a (less) accurate estimate whenever asked to do so (e.g. before its regular completion), which could be called any-time localization. © Springer-Verlag Berlin Heidelberg 2003.
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