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YixFeng / Block-Map-Based-Localization

[ICRA'24] A localization system based on Block Maps (BMs) to reduce the computational load caused by maintaining large-scale maps
BSD 3-Clause "New" or "Revised" License
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A issue about global_localization. #2

Closed zuowei1998 closed 3 months ago

zuowei1998 commented 4 months ago

Thank you for your outstanding work! I was wondering when you plan to open-source the global localization part of your code. I have a few questions about the global localization algorithm presented in your paper. Specifically, I'd like to know what improvements your algorithm has over the BBS algorithm. In addition to the initial score S0 and greedy strategy (I'm assuming this means searching in order of score from highest to lowest), are there any other algorithmic optimizations that you could share more details about?

YixFeng commented 4 months ago

@Ericsii

Ericsii commented 4 months ago

Not just searching scores in decreasing order. We maintain the current highest scores in each pyramid layer and ignore the nodes whose score are below the current highest score. This could lead to a non-optimal solution but can greatly accelerate the performance.

We will release this part source code soon.

zuowei1998 commented 4 months ago

Thank you very much for your reply. However, updating the score threshold by finding the "best score" of the leaf node through DFS can also avoid redundant calculations of other root nodes with lower scores, and at the same time increase the accuracy of the search.