{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,15]],"date-time":"2025-10-15T11:40:02Z","timestamp":1760528402923,"version":"build-2065373602"},"reference-count":19,"publisher":"Emerald","issue":"5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,16]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>The purpose of this paper is to solve the low-efficiency problem caused by large search space in global localization and develop an efficient global localization method requiring only one 2D-LiDAR scan to match against the prior map for indoor mobile robots.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>This paper solves the global localization problem efficiently using branch-and-bound (B&amp;B). Likelihood fields model is used to compute objective function, and further dilated probabilistic grids are precomputed for upper bound. Branching strategy is to partition a node in half along both X and Y dimensions. Three search strategies, namely, depth-first search (DFS), best-first search (BFS) and cyclic-best-first search (CBFS), are implemented and compared. Moreover, some acceleration tricks are designed carefully to further improve the global localization efficiency.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>Experimental results reveal the proposed method achieves high global localization success rate and efficiency (processing time in 0.5\u2009s) even in face of large and ambiguous scenarios, and BFS and CBFS are more suitable for B&amp;B-based global localization method than DFS.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>The proposed method achieves efficient single-shot global localization based on B&amp;B, which will benefit the indoor mobile robots equipped with 2D-LiDAR. The authors implement and compare three search strategies and demonstrate the more suitable ones for B&amp;B-based global localization. Key parameters are analyzed in detail to guide the readers to determine them properly in their own scenarios.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-11-2024-0508","type":"journal-article","created":{"date-parts":[[2025,3,22]],"date-time":"2025-03-22T00:53:23Z","timestamp":1742604803000},"page":"740-749","source":"Crossref","is-referenced-by-count":0,"title":["Efficient single-shot global localization method for indoor mobile robots using branch-and-bound"],"prefix":"10.1108","volume":"52","author":[{"given":"Song","family":"Du","sequence":"first","affiliation":[{"name":"Zhejiang University Department of Mechanical Engineering, , Hangzhou,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yijie","family":"Wu","sequence":"additional","affiliation":[{"name":"Zhejiang University Department of Mechanical Engineering, , Hangzhou,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2025,3,25]]},"reference":[{"key":"2025101507175068400_ref001","doi-asserted-by":"publisher","first-page":"6469","DOI":"10.1109\/ICRA40945.2020.9196568","article-title":"Hybrid localization using model- and Learning-Based methods: fusion of Monte Carlo and E2E localizations via importance sampling","author":"Akai","year":"2020"},{"key":"2025101507175068400_ref002","doi-asserted-by":"publisher","first-page":"1796","DOI":"10.1109\/ICRA57147.2024.10610810","article-title":"3D-BBS: global localization for 3D point cloud scan matching using branch-and-bound algorithm","author":"Aoki","year":"2024"},{"issue":"2","key":"2025101507175068400_ref003","doi-asserted-by":"publisher","first-page":"855","DOI":"10.1109\/LRA.2021.3052418","article-title":"PHASER: a robust and Correspondence-Free global pointcloud registration","volume":"6","author":"Bernreiter","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"7","key":"2025101507175068400_ref004","doi-asserted-by":"publisher","first-page":"731","DOI":"10.1007\/s11263-018-1067-5","article-title":"Scale-Free registrations in 3D: 7 degrees of freedom with Fourier Mellin SOFT transforms","volume":"126","author":"B\u00fclow","year":"2018","journal-title":"International Journal of Computer Vision"},{"key":"2025101507175068400_ref005","doi-asserted-by":"publisher","DOI":"10.1108\/IR-07-2024-0294","article-title":"An efficient Single-Shot global localization method for indoor mobile robots using phase correlation","author":"Du","year":"2024","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"12","key":"2025101507175068400_ref006","doi-asserted-by":"publisher","first-page":"985","DOI":"10.1177\/0278364903022012001","article-title":"Adapting the sample size in particle filters through KLD-Sampling","volume":"22","author":"Fox","year":"2003","journal-title":"The International Journal of Robotics Research"},{"key":"2025101507175068400_ref007","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2409.18049","article-title":"Revisit anything: visual place recognition via image segment retrieval","author":"Garg","year":"2024"},{"key":"2025101507175068400_ref008","doi-asserted-by":"publisher","first-page":"1271","DOI":"10.1109\/ICRA.2016.7487258","article-title":"Real-time loop closure in 2D LiDAR SLAM","author":"Hess","year":"2016"},{"key":"2025101507175068400_ref009","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/ECMR.2015.7324185","article-title":"Geometry matters: place recognition in 2D range scans using geometrical surface relations","volume-title":"European Conference on Mobile Robots (ECMR)","author":"Himstedt","year":"2015"},{"key":"2025101507175068400_ref010","unstructured":"Howard, A. and Roy, N. 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