{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,15]],"date-time":"2025-11-15T17:12:13Z","timestamp":1763226733947,"version":"build-2065373602"},"reference-count":43,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2019,7,29]],"date-time":"2019-07-29T00:00:00Z","timestamp":1564358400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Dongguan Innovative Research Team Program","award":["201536000100031"],"award-info":[{"award-number":["201536000100031"]}]},{"DOI":"10.13039\/501100012245","name":"Science and Technology Planning Project of Guangdong Province","doi-asserted-by":"publisher","award":["2017B090913001"],"award-info":[{"award-number":["2017B090913001"]}],"id":[{"id":"10.13039\/501100012245","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51805190"],"award-info":[{"award-number":["51805190"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2019M650179"],"award-info":[{"award-number":["2019M650179"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Guangdong major science and technology project","award":["2019B090919003"],"award-info":[{"award-number":["2019B090919003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In real-world robotic navigation, some ambiguous environments contain symmetrical or featureless areas that may cause the perceptual aliasing of external sensors. As a result of that, the uncorrected localization errors will accumulate during the localization process, which imposes difficulties to locate a robot in such a situation. Using the ambiguity grid map (AGM), we address this problem by proposing a novel probabilistic localization method, referred to as AGM-based adaptive Monte Carlo localization. AGM has the capacity of evaluating the environmental ambiguity with average ambiguity error and estimating the possible localization error at a given pose. Benefiting from the constructed AGM, our localization method is derived from an improved Dynamic Bayes network to reason about the robot\u2019s pose as well as the accumulated localization error. Moreover, a portal motion model is presented to achieve more reliable pose prediction without time-consuming implementation, and thus the accumulated localization error can be corrected immediately when the robot moving through an ambiguous area. Simulation and real-world experiments demonstrate that the proposed method improves localization reliability while maintains efficiency in ambiguous environments.<\/jats:p>","DOI":"10.3390\/s19153331","type":"journal-article","created":{"date-parts":[[2019,7,29]],"date-time":"2019-07-29T11:20:18Z","timestamp":1564399218000},"page":"3331","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Reliable and Fast Localization in Ambiguous Environments Using Ambiguity Grid Map"],"prefix":"10.3390","volume":"19","author":[{"given":"Gen","family":"Li","sequence":"first","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Meng","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuanlong","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaolong","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liquan","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,7,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1232","DOI":"10.1109\/LRA.2019.2894852","article-title":"Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models","volume":"4","author":"Lajoie","year":"2019","journal-title":"IEEE Robot. 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