Block-Map-Based Localization in Large-Scale Environment Article Swipe

PDF

Yixiao Feng , Jiang Zhou , Yongliang Shi , Yun‐Long Feng , Xiangyu Chen , Hao Zhao , Guyue Zhou ·

YOU? · · 2024 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2404.18192

Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will affect downstream tasks such as robot navigation and services. To this end, we propose a localization system based on Block Maps (BMs) to reduce the computational load caused by maintaining large-scale maps. Firstly, we introduce a method for generating block maps and the corresponding switching strategies, ensuring that the robot can estimate the state in large-scale environments by loading local map information. Secondly, global localization according to Branch-and-Bound Search (BBS) in the 3D map is introduced to provide the initial pose. Finally, a graph-based optimization method is adopted with a dynamic sliding window that determines what factors are being marginalized whether a robot is exposed to a BM or switching to another one, which maintains the accuracy and efficiency of pose tracking. Comparison experiments are performed on publicly available large-scale datasets. Results show that the proposed method can track the robot pose even though the map scale reaches more than 6 kilometers, while efficient and accurate localization is still guaranteed on NCLT and M2DGR.

Related Topics

Concepts

Block (permutation group theory) Scale (ratio) Computer science Cartography Geography Mathematics Combinatorics

Metadata

Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2404.18192
PDF: https://arxiv.org/pdf/2404.18192
OA Status: green
Related Works: 10
OpenAlex ID: https://openalex.org/W4396820117

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W4396820117

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.48550/arxiv.2404.18192

Digital Object Identifier
Title: Block-Map-Based Localization in Large-Scale Environment

Work title
Type: preprint

OpenAlex work type
Language: en

Primary language
Publication year: 2024

Year of publication
Publication date: 2024-04-28

Full publication date if available
Authors: Yixiao Feng, Jiang Zhou, Yongliang Shi, Yun‐Long Feng, Xiangyu Chen, Hao Zhao, Guyue Zhou

List of authors in order
Landing page: https://arxiv.org/abs/2404.18192

Publisher landing page
PDF URL: https://arxiv.org/pdf/2404.18192

Direct link to full text PDF
Open access: Yes

Whether a free full text is available
OA status: green

Open access status per OpenAlex
OA URL: https://arxiv.org/pdf/2404.18192

Direct OA link when available
Concepts: Block (permutation group theory), Scale (ratio), Computer science, Cartography, Geography, Mathematics, Combinatorics

Top concepts (fields/topics) attached by OpenAlex
Cited by: 0

Total citation count in OpenAlex
Related works (count): 10

Other works algorithmically related by OpenAlex

Full payload

id	https://openalex.org/W4396820117
doi	https://doi.org/10.48550/arxiv.2404.18192
ids.doi	https://doi.org/10.48550/arxiv.2404.18192
ids.openalex	https://openalex.org/W4396820117
fwci
type	preprint
title	Block-Map-Based Localization in Large-Scale Environment
biblio.issue
biblio.volume
biblio.last_page
biblio.first_page
topics[0].id	https://openalex.org/T10191
topics[0].field.id	https://openalex.org/fields/22
topics[0].field.display_name	Engineering
topics[0].score	0.98089998960495
topics[0].domain.id	https://openalex.org/domains/3
topics[0].domain.display_name	Physical Sciences
topics[0].subfield.id	https://openalex.org/subfields/2202
topics[0].subfield.display_name	Aerospace Engineering
topics[0].display_name	Robotics and Sensor-Based Localization
topics[1].id	https://openalex.org/T10326
topics[1].field.id	https://openalex.org/fields/22
topics[1].field.display_name	Engineering
topics[1].score	0.9642999768257141
topics[1].domain.id	https://openalex.org/domains/3
topics[1].domain.display_name	Physical Sciences
topics[1].subfield.id	https://openalex.org/subfields/2208
topics[1].subfield.display_name	Electrical and Electronic Engineering
topics[1].display_name	Indoor and Outdoor Localization Technologies
topics[2].id	https://openalex.org/T13382
topics[2].field.id	https://openalex.org/fields/22
topics[2].field.display_name	Engineering
topics[2].score	0.9527999758720398
topics[2].domain.id	https://openalex.org/domains/3
topics[2].domain.display_name	Physical Sciences
topics[2].subfield.id	https://openalex.org/subfields/2207
topics[2].subfield.display_name	Control and Systems Engineering
topics[2].display_name	Robotics and Automated Systems
is_xpac	False
apc_list
apc_paid
concepts[0].id	https://openalex.org/C2777210771
concepts[0].level	2
concepts[0].score	0.6855723261833191
concepts[0].wikidata	https://www.wikidata.org/wiki/Q4927124
concepts[0].display_name	Block (permutation group theory)
concepts[1].id	https://openalex.org/C2778755073
concepts[1].level	2
concepts[1].score	0.6712125539779663
concepts[1].wikidata	https://www.wikidata.org/wiki/Q10858537
concepts[1].display_name	Scale (ratio)
concepts[2].id	https://openalex.org/C41008148
concepts[2].level	0
concepts[2].score	0.4720737934112549
concepts[2].wikidata	https://www.wikidata.org/wiki/Q21198
concepts[2].display_name	Computer science
concepts[3].id	https://openalex.org/C58640448
concepts[3].level	1
concepts[3].score	0.3180316090583801
concepts[3].wikidata	https://www.wikidata.org/wiki/Q42515
concepts[3].display_name	Cartography
concepts[4].id	https://openalex.org/C205649164
concepts[4].level	0
concepts[4].score	0.2916209101676941
concepts[4].wikidata	https://www.wikidata.org/wiki/Q1071
concepts[4].display_name	Geography
concepts[5].id	https://openalex.org/C33923547
concepts[5].level	0
concepts[5].score	0.23978179693222046
concepts[5].wikidata	https://www.wikidata.org/wiki/Q395
concepts[5].display_name	Mathematics
concepts[6].id	https://openalex.org/C114614502
concepts[6].level	1
concepts[6].score	0.1398785412311554
concepts[6].wikidata	https://www.wikidata.org/wiki/Q76592
concepts[6].display_name	Combinatorics
keywords[0].id	https://openalex.org/keywords/block
keywords[0].score	0.6855723261833191
keywords[0].display_name	Block (permutation group theory)
keywords[1].id	https://openalex.org/keywords/scale
keywords[1].score	0.6712125539779663
keywords[1].display_name	Scale (ratio)
keywords[2].id	https://openalex.org/keywords/computer-science
keywords[2].score	0.4720737934112549
keywords[2].display_name	Computer science
keywords[3].id	https://openalex.org/keywords/cartography
keywords[3].score	0.3180316090583801
keywords[3].display_name	Cartography
keywords[4].id	https://openalex.org/keywords/geography
keywords[4].score	0.2916209101676941
keywords[4].display_name	Geography
keywords[5].id	https://openalex.org/keywords/mathematics
keywords[5].score	0.23978179693222046
keywords[5].display_name	Mathematics
keywords[6].id	https://openalex.org/keywords/combinatorics
keywords[6].score	0.1398785412311554
keywords[6].display_name	Combinatorics
language	en
locations[0].id	pmh:oai:arXiv.org:2404.18192
locations[0].is_oa	True
locations[0].source.id	https://openalex.org/S4306400194
locations[0].source.issn
locations[0].source.type	repository
locations[0].source.is_oa	True
locations[0].source.issn_l
locations[0].source.is_core	False
locations[0].source.is_in_doaj	False
locations[0].source.display_name	arXiv (Cornell University)
locations[0].source.host_organization	https://openalex.org/I205783295
locations[0].source.host_organization_name	Cornell University
locations[0].source.host_organization_lineage	https://openalex.org/I205783295
locations[0].license
locations[0].pdf_url	https://arxiv.org/pdf/2404.18192
locations[0].version	submittedVersion
locations[0].raw_type
locations[0].license_id
locations[0].is_accepted	False
locations[0].is_published	False
locations[0].raw_source_name
locations[0].landing_page_url	http://arxiv.org/abs/2404.18192
locations[1].id	doi:10.48550/arxiv.2404.18192
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306400194
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	True
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	arXiv (Cornell University)
locations[1].source.host_organization	https://openalex.org/I205783295
locations[1].source.host_organization_name	Cornell University
locations[1].source.host_organization_lineage	https://openalex.org/I205783295
locations[1].license
locations[1].pdf_url
locations[1].version
locations[1].raw_type	article
locations[1].license_id
locations[1].is_accepted	False
locations[1].is_published
locations[1].raw_source_name
locations[1].landing_page_url	https://doi.org/10.48550/arxiv.2404.18192
indexed_in	arxiv, datacite
authorships[0].author.id	https://openalex.org/A5108597975
authorships[0].author.orcid
authorships[0].author.display_name	Yixiao Feng
authorships[0].author_position	first
authorships[0].raw_author_name	Feng, Yixiao
authorships[0].is_corresponding	False
authorships[1].author.id	https://openalex.org/A5086865138
authorships[1].author.orcid	https://orcid.org/0000-0002-7687-5896
authorships[1].author.display_name	Jiang Zhou
authorships[1].author_position	middle
authorships[1].raw_author_name	Jiang, Zhou
authorships[1].is_corresponding	False
authorships[2].author.id	https://openalex.org/A5062980212
authorships[2].author.orcid	https://orcid.org/0000-0003-3086-729X
authorships[2].author.display_name	Yongliang Shi
authorships[2].author_position	middle
authorships[2].raw_author_name	Shi, Yongliang
authorships[2].is_corresponding	False
authorships[3].author.id	https://openalex.org/A5100295583
authorships[3].author.orcid	https://orcid.org/0000-0002-0561-8841
authorships[3].author.display_name	Yun‐Long Feng
authorships[3].author_position	middle
authorships[3].raw_author_name	Feng, Yunlong
authorships[3].is_corresponding	False
authorships[4].author.id	https://openalex.org/A5100340509
authorships[4].author.orcid	https://orcid.org/0000-0002-0711-0275
authorships[4].author.display_name	Xiangyu Chen
authorships[4].author_position	middle
authorships[4].raw_author_name	Chen, Xiangyu
authorships[4].is_corresponding	False
authorships[5].author.id	https://openalex.org/A5101213342
authorships[5].author.orcid	https://orcid.org/0000-0002-7578-9910
authorships[5].author.display_name	Hao Zhao
authorships[5].author_position	middle
authorships[5].raw_author_name	Zhao, Hao
authorships[5].is_corresponding	False
authorships[6].author.id	https://openalex.org/A5011913905
authorships[6].author.orcid	https://orcid.org/0000-0002-3894-9858
authorships[6].author.display_name	Guyue Zhou
authorships[6].author_position	last
authorships[6].raw_author_name	Zhou, Guyue
authorships[6].is_corresponding	False
has_content.pdf	True
has_content.grobid_xml	True
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://arxiv.org/pdf/2404.18192
open_access.oa_status	green
open_access.any_repository_has_fulltext	False
created_date	2025-10-10T00:00:00
display_name	Block-Map-Based Localization in Large-Scale Environment
has_fulltext	False
is_retracted	False
updated_date	2025-11-06T06:51:31.235846
primary_topic.id	https://openalex.org/T10191
primary_topic.field.id	https://openalex.org/fields/22
primary_topic.field.display_name	Engineering
primary_topic.score	0.98089998960495
primary_topic.domain.id	https://openalex.org/domains/3
primary_topic.domain.display_name	Physical Sciences
primary_topic.subfield.id	https://openalex.org/subfields/2202
primary_topic.subfield.display_name	Aerospace Engineering
primary_topic.display_name	Robotics and Sensor-Based Localization
related_works	https://openalex.org/W4391375266, https://openalex.org/W2748952813, https://openalex.org/W2390279801, https://openalex.org/W2358668433, https://openalex.org/W4396701345, https://openalex.org/W2376932109, https://openalex.org/W2001405890, https://openalex.org/W4396696052, https://openalex.org/W2382290278, https://openalex.org/W4395014643
cited_by_count	0
locations_count	2
best_oa_location.id	pmh:oai:arXiv.org:2404.18192
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4306400194
best_oa_location.source.issn
best_oa_location.source.type	repository
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l
best_oa_location.source.is_core	False
best_oa_location.source.is_in_doaj	False
best_oa_location.source.display_name	arXiv (Cornell University)
best_oa_location.source.host_organization	https://openalex.org/I205783295
best_oa_location.source.host_organization_name	Cornell University
best_oa_location.source.host_organization_lineage	https://openalex.org/I205783295
best_oa_location.license
best_oa_location.pdf_url	https://arxiv.org/pdf/2404.18192
best_oa_location.version	submittedVersion
best_oa_location.raw_type
best_oa_location.license_id
best_oa_location.is_accepted	False
best_oa_location.is_published	False
best_oa_location.raw_source_name
best_oa_location.landing_page_url	http://arxiv.org/abs/2404.18192
primary_location.id	pmh:oai:arXiv.org:2404.18192
primary_location.is_oa	True
primary_location.source.id	https://openalex.org/S4306400194
primary_location.source.issn
primary_location.source.type	repository
primary_location.source.is_oa	True
primary_location.source.issn_l
primary_location.source.is_core	False
primary_location.source.is_in_doaj	False
primary_location.source.display_name	arXiv (Cornell University)
primary_location.source.host_organization	https://openalex.org/I205783295
primary_location.source.host_organization_name	Cornell University
primary_location.source.host_organization_lineage	https://openalex.org/I205783295
primary_location.license
primary_location.pdf_url	https://arxiv.org/pdf/2404.18192
primary_location.version	submittedVersion
primary_location.raw_type
primary_location.license_id
primary_location.is_accepted	False
primary_location.is_published	False
primary_location.raw_source_name
primary_location.landing_page_url	http://arxiv.org/abs/2404.18192
publication_date	2024-04-28
publication_year	2024
referenced_works_count	0
abstract_inverted_index.6	184
abstract_inverted_index.a	48, 69, 116, 123, 135, 140
abstract_inverted_index.3D	106
abstract_inverted_index.BM	141
abstract_inverted_index.To	43
abstract_inverted_index.an	3
abstract_inverted_index.as	38
abstract_inverted_index.by	62, 91
abstract_inverted_index.in	12, 29, 88, 104
abstract_inverted_index.is	2, 108, 120, 137, 191
abstract_inverted_index.of	10, 153
abstract_inverted_index.on	52, 160, 194
abstract_inverted_index.or	142
abstract_inverted_index.to	26, 56, 100, 110, 139, 144
abstract_inverted_index.we	46, 67
abstract_inverted_index.and	17, 41, 75, 151, 188, 196
abstract_inverted_index.are	131, 158
abstract_inverted_index.can	84, 171
abstract_inverted_index.due	25
abstract_inverted_index.for	6, 71
abstract_inverted_index.map	30, 94, 107, 179
abstract_inverted_index.the	7, 22, 27, 58, 76, 82, 86, 105, 112, 149, 168, 173, 178
abstract_inverted_index.Both	15
abstract_inverted_index.Maps	54
abstract_inverted_index.NCLT	195
abstract_inverted_index.end,	45
abstract_inverted_index.even	176
abstract_inverted_index.load	24, 60
abstract_inverted_index.maps	74
abstract_inverted_index.more	182
abstract_inverted_index.one,	146
abstract_inverted_index.pose	154, 175
abstract_inverted_index.show	166
abstract_inverted_index.such	37
abstract_inverted_index.than	183
abstract_inverted_index.that	81, 127, 167
abstract_inverted_index.this	44
abstract_inverted_index.what	129
abstract_inverted_index.will	20, 33
abstract_inverted_index.with	122
abstract_inverted_index.(BBS)	103
abstract_inverted_index.(BMs)	55
abstract_inverted_index.Block	53
abstract_inverted_index.based	51
abstract_inverted_index.being	132
abstract_inverted_index.block	73
abstract_inverted_index.local	93
abstract_inverted_index.maps.	65
abstract_inverted_index.pose.	114
abstract_inverted_index.robot	39, 83, 136, 174
abstract_inverted_index.scale	180
abstract_inverted_index.size,	31
abstract_inverted_index.state	87
abstract_inverted_index.still	192
abstract_inverted_index.tasks	36
abstract_inverted_index.track	172
abstract_inverted_index.which	32, 147
abstract_inverted_index.while	186
abstract_inverted_index.M2DGR.	197
abstract_inverted_index.Search	102
abstract_inverted_index.affect	34
abstract_inverted_index.caused	61
abstract_inverted_index.global	97
abstract_inverted_index.method	70, 119, 170
abstract_inverted_index.reduce	57
abstract_inverted_index.robots	11
abstract_inverted_index.system	50
abstract_inverted_index.though	177
abstract_inverted_index.window	126
abstract_inverted_index.Results	165
abstract_inverted_index.adopted	121
abstract_inverted_index.another	145
abstract_inverted_index.dynamic	124
abstract_inverted_index.exposed	138
abstract_inverted_index.factors	130
abstract_inverted_index.initial	113
abstract_inverted_index.loading	92
abstract_inverted_index.propose	47
abstract_inverted_index.provide	111
abstract_inverted_index.reaches	181
abstract_inverted_index.sliding	125
abstract_inverted_index.whether	134
abstract_inverted_index.Accurate	0
abstract_inverted_index.Finally,	115
abstract_inverted_index.Firstly,	66
abstract_inverted_index.accuracy	150
abstract_inverted_index.accurate	189
abstract_inverted_index.ensuring	80
abstract_inverted_index.estimate	85
abstract_inverted_index.flexible	8
abstract_inverted_index.increase	21, 28
abstract_inverted_index.proposed	169
abstract_inverted_index.publicly	161
abstract_inverted_index.Secondly,	96
abstract_inverted_index.according	99
abstract_inverted_index.available	162
abstract_inverted_index.computing	23
abstract_inverted_index.datasets.	164
abstract_inverted_index.efficient	187
abstract_inverted_index.essential	4
abstract_inverted_index.introduce	68
abstract_inverted_index.maintains	148
abstract_inverted_index.map-based	18
abstract_inverted_index.performed	159
abstract_inverted_index.services.	42
abstract_inverted_index.switching	78, 143
abstract_inverted_index.tracking.	155
abstract_inverted_index.Comparison	156
abstract_inverted_index.SLAM-based	16
abstract_inverted_index.determines	128
abstract_inverted_index.downstream	35
abstract_inverted_index.efficiency	152
abstract_inverted_index.generating	72
abstract_inverted_index.guaranteed	193
abstract_inverted_index.introduced	109
abstract_inverted_index.navigation	9, 40
abstract_inverted_index.technology	5
abstract_inverted_index.experiments	157
abstract_inverted_index.graph-based	117
abstract_inverted_index.kilometers,	185
abstract_inverted_index.large-scale	13, 64, 89, 163
abstract_inverted_index.maintaining	63
abstract_inverted_index.strategies,	79
abstract_inverted_index.environments	90
abstract_inverted_index.information.	95
abstract_inverted_index.localization	1, 19, 49, 98, 190
abstract_inverted_index.marginalized	133
abstract_inverted_index.optimization	118
abstract_inverted_index.computational	59
abstract_inverted_index.corresponding	77
abstract_inverted_index.environments.	14
abstract_inverted_index.Branch-and-Bound	101
cited_by_percentile_year
countries_distinct_count	0
institutions_distinct_count	7
citation_normalized_percentile