Real-Time High-Accuracy 2D Localization with Oriented Grid Map *

Mobile robots have been widely adopted in various domains, including household cleaning, warehousing and logistics, flexible handling between factory production lines. However, their deployment is often constrained by environmental conditions, particularly the need for relatively static and low-variability scenes. In dynamic scenarios, map updates typically rely on accessories such as QR codes or reflectors. Without such assistance, map updates can result in thickened obstacle boundaries, reduced localization accuracy, and ultimately, task failure. To address this challenge, this paper proposes a grid map with directional characteristics, which effectively mitigates obstacle boundary thickening caused by unaided map updates. The proposed approach enhances mapping accuracy and provides robust support for the long-term autonomous operation of mobile robots.