METHODS AND SYSTEMS FOR DETERMINING AN INITIAL EGO-POSE FOR INITIALIZATION OF SELF-LOCALIZATION

A computer implemented method for determining an initial ego-pose for initialization of self-localization comprises the following steps carried out by computer hardware components: providing a plurality of particles in a map; grouping the particles in a plurality of clusters, each cluster comprising...

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Bibliographische Detailangaben
Hauptverfasser:	PISHEHVARI, Ahmad, LESSMANN, Stephanie
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CONTROLLING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION REGULATING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING
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Beschreibung
Zusammenfassung:	A computer implemented method for determining an initial ego-pose for initialization of self-localization comprises the following steps carried out by computer hardware components: providing a plurality of particles in a map; grouping the particles in a plurality of clusters, each cluster comprising a respective subset of the plurality of particles; during particle filtering, injecting particles based on the plurality of clusters; and determining an initial ego-pose based on the particle filtering.