Coarse-to-Fine Localization for a Mobile Robot Based on Place Learning With a 2-D Range Scan.

This paper presents a new coarse-to-fine global localization approach based on place learning with a 2-D range scan; we use a support vector machine (SVM) to train a set of classifiers for place recognition. Exploiting the graphical property of generalized Voronoi graph extracted from an occupancy grid map, we segment the map into local places with a spectral clustering algorithm and wavefront pro...