# Monte Carlo Localization in Hand-Drawn Maps

arXiv: https://arxiv.org/abs/1504.00522 · HTML: https://mlsanity.com/paper/1504.00522/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Apr 2015.

## Built on by (most cited first, 1 of 1)

- [Mobile Robot Navigation Using Hand-Drawn Maps: A Vision Language Model Approach](https://mlsanity.com/paper/2502.00114/) (2025)

## Abstract (arXiv)

Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address the localization problem when the map of the environment is not present beforehand, and the robot relies on a hand-drawn map from a non-expert user. We addressed this problem by expressing the robot pose in the pixel coordinate and simultaneously estimate a local deformation of the hand-drawn map. Experiments show that we are able to localize the robot in the correct room with a robustness up to 80%