Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In this paper, we propose a localization method using Downhill simplex method to superimpose two localization maps. AMCL is capable to localize under environment noise, but take time to converge to ground truth. NDT is capable to converge quickly to ground truth, but is not able to localize under environment noise and the environment where the evaluation values are multimodal. Our experiments show that the proposed method is able to converge to ground truth faster than AMCL and localize under environment noise more accurately than AMCL and NDT.
