Pose Extraction from Sample Sets in Robot Self-Localization – A Comparison and a Novel Approach.pdfVIP

1 Pose Extraction from Sample Sets in Robot Self-Localization – A Comparison and a Novel Approach Tim Laue, Thomas Ro¨fer Deutsches Forschungszentrum fu¨r Ku¨nstliche Intelligenz, Safe and Secure Cognitive Systems, Bremen, Germany Abstract— For state estimation in robotics applications, especially for robot self-localization, the Monte-Carlo approach has been a popular choice in recent years. Since the original proposal of the approach, several modi?cations and improvements, e.g., for more intelligent resampling or for ef?ciently coping with the kidnapped robot problem, have been proposed. Nev