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This problem is difficult since large regions of sparse environments do not provide relevant information for the robot to recover its pose. We propose a novel method that distributes particle poses only in relevant parts of the environment and leads the robot along these regions using the numeric solution of a BVP. Several experiments show that the improved method leads to a better initial particle distribution and a better convergence of the localization process.<\/jats:p>","DOI":"10.1007\/bf03194506","type":"journal-article","created":{"date-parts":[[2010,12,2]],"date-time":"2010-12-02T17:04:47Z","timestamp":1291309487000},"page":"55-64","source":"Crossref","is-referenced-by-count":1,"title":["An improved particle filter for sparse environments"],"prefix":"10.1007","volume":"15","author":[{"given":"Edson","family":"Prestes","sequence":"first","affiliation":[]},{"given":"Marcus","family":"Ritt","sequence":"additional","affiliation":[]},{"given":"Gustavo","family":"F\u00fchr","sequence":"additional","affiliation":[]}],"member":"297","reference":[{"key":"BF03194506_CR1","doi-asserted-by":"crossref","unstructured":"Amigoni F. Experimental evaluation of some exploration strategies for mobile robots. 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