Global Localization with a Single-line LiDAR by Dense 2D Signature and 1D Registration

Global localization is a key problem that needs to be solved for single-line LiDAR based robot navigation since it will directly affect the estimation accuracy of the robot’s initial pose and the success rate of recovering the robot’s state when it loses its local pose. Existing studies to deal with this problem usually extract feature points from laser beams and then resort to fast retrieval and ...