AMCL: The Localization Algorithm That Survived 20 Years — Particle Filter + KLD-Sampling Deep Dive
TL;DR AMCL (Adaptive Monte Carlo Localization) is a probabilistic localization algorithm that estimates a robot's pose on a pre-built 2D map. The key idea: represent the position probability distribution using a particle filter, and dynamically adjus...
Apr 16, 202610 min read