Contents
1 Introduction
1.1 Problem Formulation and Paper Organization
1.2 Typical Situations
1.3 Relationship to Previous Surveys
2 Maps for Global Localization
2.1 Keyframe-based Submap
2.2 Global Feature Map
2.3 Global Metric Map
3 Single-shot Global Localization: Place Recognition and Pose Estimation
3.1 Place Recognition Only
3.2 Place Recognition Followed by Local Pose Estimation
3.3 Pose Estimation-coupled Place Recognition
3.4 One-stage Global Pose Estimation
4 Sequential Global Localization
4.1 Sequential Place Matching
4.2 Sequential Metric Localization
5 LiDAR-aided Cross-robot Localization
5.1 LiDAR-aided Multi-robot System
5.2 Cross-robot Back-end
6 Open Problems
6.1 Evaluation Difference
6.2 Multiple Modalities
6.5 Efficiency and Scalability
6.6 Generalization Ability
7 Conclusion