SeDAR - Semantic Detection and Ranging: Humans can localise without LiDAR, can robots?

Understand

How does a person work out their location using a floorplan? It is probably safe to say that we do not explicitly measure depths to every visible surface and try to match them against different pose estimates in the floorplan.

• And yet, this is exactly how most robotic scan-matching algorithms operate.
• Similarly, we do not extrude the 2D geometry present in the floorplan into 3D and try to align it to the real-world.
• And yet, this is how most vision-based approaches localise.