Global localisation via sub-graph isomorphism
Maurizio Piaggio, Antonio Sgorbissa, Renato Zaccaria · 2003
A novel approach to the global localisation problem for an autonomous mobile robot is presented. Instead of referring to traditional map-based techniques, we choose to extract a graph-like topological representation of the free space from occupancy grids, thus shifting the map-matching problem to a sub-graph isomorphism one. An efficient any-time algorithm is described in detail, and simulated experimental results are provided.