Semi-autorelocalization for mobile robots using lidar

Abstract

A mobile robot includes a user interface configured to receive a hint location from a user, one or more sensors configured to collect sensor data, one or more motors, and a controller. The controller is programmed to: generate an online map and an online pose based on the sensor data; determine a search space in a global map of an area, the hint location being a center of the search space; perform a map matching between the online map and the search space to obtain a map pose in the global map; and calculate a pose of the mobile robot with respect to the global map based on the online pose and the map pose.