MUREA: A MUlti-Resolution Evidence Accumulation method for robot localization in known environments

Abstract

We present MUREA (MUlti-Resolution Evidence Accumulation): a mobile robot localization method for known 2D environments. It is an evidence accumulation method where the complexity is reduced by means of a multi-resolution scheme. The added value of the contribution, in the authors opinion, are 1) the method per sé; 2) the capability of the system to accept both raw sensor data as well as independently generated localization estimates; 3) the capability of the system to give out a (less) accurate estimate whenever asked to do so (e.g. before its regular completion), which could be called any-time localization. © Springer-Verlag Berlin Heidelberg 2003.