Fig. 1. Basic steps of the AMCL algorithm

Fig. 2. Laser point cloud alignment results. (a) Before optimization; (b) after optimization

Fig. 3. Improved localization algorithm

Fig. 4. Algorithm data view

Fig. 5. Bicubic interpolation

Fig. 6. DFT improvement example. (a) Real scan of a robot placed in the center of a circular room; (b) virtual estimation measurement assuming robot displacement in the center

Fig. 7. Robot physical model

Fig. 8. Mobile robot locolization process

Fig. 9. Comparison of absolute localization experiments in sports. (a) Position trajectory; (b) orientation

Fig. 10. Pose comparison in the X-axis direction. (a) Trajectory; (b) error

Fig. 11. Pose comparison in the Y-axis direction. (a) Trajectory; (b) error