Efficient and Reliable LiDAR-Based Global Localization of Mobile Robots Using Multiscale/Resolution Maps

In large-scale structured scenes, efficient and reliable global localization is hard to achieve for mobile robots due to the substantial increase in the search space. This article addresses this issue by proposing an optimized branch and bound (BnB) based global localization using multiscale/resolution maps, which can efficiently find the global optimal initial pose with a high success rate. Multiscale feature maps (MSFMs) are first constructed to reflect the explicit point/line information of the structured scene. Then, to narrow the position space, robust features are extracted from LiDAR data at different scales and matched with MSFMs instantaneously using the hash function. Utilizing the attitude and heading reference system, a yaw angle estimation considering environmental interference is achieved to reduce the orientation space and improve the localization reliability in ambiguous environments. Besides, with the optimal resolution level and sparse point cloud sampled from interval filtering, an optimized BnB-based search is presented by using multiresolution maps. Finally, the effectiveness of the proposed method is verified by mobile robot real-world and simulated experiments in large-scale structured environments.