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In this work, we have developed an algorithm that solves this problem in a three-dimensional (3D) environment using evolutionary computation concepts. The method has been called RELF-3D and has many features that make it very robust and reliable: thresholding and discarding mechanisms, different cost functions, effective convergence criteria, and so on. The resulting global localization module has been tested in numerous experiments and the most important improvement obtained is the accuracy of the method, allowing its application in manipulation tasks.<\/jats:p>","DOI":"10.1017\/s0263574711000701","type":"journal-article","created":{"date-parts":[[2011,7,11]],"date-time":"2011-07-11T07:09:57Z","timestamp":1310368197000},"page":"363-378","source":"Crossref","is-referenced-by-count":10,"title":["High-accuracy global localization filter for three-dimensional environments"],"prefix":"10.1017","volume":"30","author":[{"given":"Fernando","family":"Mart\u00edn","sequence":"first","affiliation":[]},{"given":"Luis","family":"Moreno","sequence":"additional","affiliation":[]},{"given":"Santiago","family":"Garrido","sequence":"additional","affiliation":[]},{"given":"Dolores","family":"Blanco","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,7,11]]},"reference":[{"key":"S0263574711000701_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-006-0023-y"},{"key":"S0263574711000701_ref6","doi-asserted-by":"crossref","first-page":"391","DOI":"10.1613\/jair.616","article-title":"Markov localization for mobile robots in dynamic environments","volume":"11","author":"Fox","year":"1999","journal-title":"J. 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Thrun S. , H\u00e4hnel D. , Ferguson D. , Montemerlo M. , Triebel R. , Burgard W. , Baker C. , Omohundro Z. , Thayer S. and Whittaker W. , \u201cA System for Volumetric Robotic Mapping of Abandoned Mines,\u201d Proceedings of the International Conference on Robotics and Automation (ICRA'03) (May 12\u201317, 2003)."},{"key":"S0263574711000701_ref28","doi-asserted-by":"crossref","unstructured":"28. Vahdat A. R. , Ashrafoddin N. N. and Ghidary S. 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Doucet A. , \u201cOn Squential Simulation-Based Methods for Bayesian Filtering,\u201d Technical Report, CUED\/FINFENG\/TR 31 (Department of Engineering, Cambridge University, Cambridge, UK, 1998)."},{"key":"S0263574711000701_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.835453"},{"key":"S0263574711000701_ref15","volume-title":"Proceedings of the Congress on Evolutionary Computation (CEC'01)","author":"Markon","year":"2001"},{"key":"S0263574711000701_ref26","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS'06)","author":"Triebel","year":"2006"},{"key":"S0263574711000701_ref2","volume-title":"Proceedings of the Fourteenth National Conference on Artificial Intelligence (AAAI-96)","author":"Burgard","year":"1996"},{"key":"S0263574711000701_ref4","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS'05)","author":"Diosi","year":"2005"},{"key":"S0263574711000701_ref23","first-page":"3366","volume-title":"International Conference on Robotics and Automation (ICRA'05)","author":"Sridharan","year":"2005"},{"key":"S0263574711000701_ref17","volume-title":"International Symposium on Intelligent Signal Processing (WISP'2009)","author":"Mart\u00edn","year":"2009"},{"key":"S0263574711000701_ref18","volume-title":"International Symposium on Intelligent Signal Processing (WISP'2009)","author":"Mart\u00edn","year":"2009"},{"key":"S0263574711000701_ref12","volume-title":"International Conference on Advanced Robotics","author":"Lai","year":"2005"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711000701","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,25]],"date-time":"2019-04-25T18:01:39Z","timestamp":1556215299000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711000701\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,7,11]]},"references-count":29,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2012,5]]}},"alternative-id":["S0263574711000701"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711000701","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,7,11]]}}}