Probabilistic Localization: Lessons Learned

• Probabilistic Localization = Bayes filters

• Particle filters: Approximate posterior by random samples

• Extensions:

  • Filter for dynamic environments
  • Safe avoidance of invisible hazards
  • People tracking
  • Multi-robot localization
  • Recovery from total failures [eg Lenser et al, 00, Thrun et al 00]

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