Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration

This paper mainly studies the information-theoretic exploration in an environmental representation with dense belief, considering pose uncertainty for range sensing robots. Previous works concern more about active mapping/exploration with known poses or utilize inaccurate information metrics, resulting in imbalanced exploration. This motivates us to extend the confidence-rich mutual information (CRMI) with measurable pose uncertainty. Specifically, we propose a Rao-Blackwellized particle filter-based confidence-rich localization and mapping (RBPF-CRLM) scheme with a new closed-form weighting method. We further compute the uncertain CRMI (UCRMI) with the weighted particles by a more accurate approximation. Simulations and experimental evaluations show the localization accuracy and exploration performance of the proposed methods in unstructured environments.