Pith Number

pith:44SC7LUS

pith:2025:44SC7LUSYF3RBCKVMWQPMT23SC

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Tackling the Kidnapped Robot Problem via Sparse Feasible Hypothesis Sampling and Reliable Batched Multi-Stage Inference

Deqing Huang, Henry Leung, Kai Shen, Lei Ma, Muhua Zhang, Ying Wu

The proposed framework estimates the global pose of a kidnapped robot efficiently and reliably from a single LiDAR scan and an occupancy grid map while the robot remains stationary.

arxiv:2511.01219 v7 · 2025-11-03 · cs.RO

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3 Author claim open · sign in to claim

4 Citations open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The proposed framework estimates the global pose efficiently and reliably from a single LiDAR scan and an occupancy grid map while the robot remains stationary, thereby enhancing the long-term autonomy of mobile robots.

C2weakest assumption

The framework assumes that the RRT under traversability constraints will generate a set of hypotheses that includes or is close enough to the true pose so that the subsequent multi-stage inference can recover it, as described in the hypothesis generation step using the occupancy grid map.

C3one line summary

A multi-hypothesis global relocalization framework uses RRT under traversability constraints for sparse feasible pose sampling, SMAD for early candidate ordering, and TAM for orientation and final evaluation to solve the kidnapped robot problem efficiently from a single non-panoramic LiDAR scan.

Formal links

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Cited by

1 paper in Pith

Offline-Online Hierarchical 3D Global Relocalization With Synthetic LiDAR Sensing and Descriptor-Space Retrieval

Receipt and verification

First computed	2026-05-21T01:04:18.273055Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e7242fae92c17710895565a0f64f5b90a5ba90f585ce66ca446dde87b26c8c38

Aliases

arxiv: 2511.01219 · arxiv_version: 2511.01219v7 · doi: 10.48550/arxiv.2511.01219 · pith_short_12: 44SC7LUSYF3R · pith_short_16: 44SC7LUSYF3RBCKV · pith_short_8: 44SC7LUS

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/44SC7LUSYF3RBCKVMWQPMT23SC \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: e7242fae92c17710895565a0f64f5b90a5ba90f585ce66ca446dde87b26c8c38

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fc8dafc91a77cf545de76581d4852f5a358ae0b4d16b79380d6abb723d02c614",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-11-03T04:30:49Z",
    "title_canon_sha256": "12d692c424488c9ab5c9bba6546407a9e653659c282cb7ec375cb67bba408bc6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2511.01219",
    "kind": "arxiv",
    "version": 7
  }
}