Introduction

Localization are very important in robotics application. It is a core function that the navigation relies so that the robot can work robustly. Basically, its sole purpose is to output accurate estimate of the robot pose, in real-time manner at any point in the robot operation. In this article, the proposed method can be generally categorized under map-based localization. The main novelties of the invention are:
  1. General map representation based on raw point-clouds that is flexible to handle all kinds of terrain
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