biostudies-literaturePalacin JUniversitat de LleidaE2500https://www.ebi.ac.uk/biostudies/studies/S-EPMC7248764biostudies-literatureUnknown20(9)This paper proposes mobile robot self-localization based on an onboard 2D push-broom (or tilted-down) LIDAR using a reference 2D map previously obtained with a 2D horizontal LIDAR. The hypothesis of this paper is that a 2D reference map created with a 2D horizontal LIDAR mounted on a mobile robot or in another mobile device can be used by another mobile robot to locate its location using the same 2D LIDAR tilted-down. The motivation to tilt-down a 2D LIDAR is the direct detection of holes or small objects placed on the ground that remain undetected for a fixed horizontal 2D LIDAR. The experimental evaluation of this hypothesis has demonstrated that self-localization with a 2D push-broom LIDAR is possible by detecting and deleting the ground and ceiling points from the scan data, and projecSensors (Basel, Switzerland)Mobile Robot Self-Localization with 2D Push-Broom LIDAR in a 2D Map.PMC7248764UdL-ImpulsRubies EClotet EPalacin JMartinez DfalseMobile Robot Self-Localization with 2D Push-Broom LIDAR in a 2D Map.This paper proposes mobile robot self-localization based on an onboard 2D push-broom (or tilted-down) LIDAR using a reference 2D map previously obtained with a 2D horizontal LIDAR. The hypothesis of this paper is that a 2D reference map created with a 2D horizontal LIDAR mounted on a mobile robot or in another mobile device can be used by another mobile robot to locate its location using the same 2D LIDAR tilted-down. The motivation to tilt-down a 2D LIDAR is the direct detection of holes or small objects placed on the ground that remain undetected for a fixed horizontal 2D LIDAR. The experimental evaluation of this hypothesis has demonstrated that self-localization with a 2D push-broom LIDAR is possible by detecting and deleting the ground and ceiling points from the scan data, and projec2020-01-01T00:00:00Z2020 Apr2025-04-05T14:02:23.597Z2025-04-05T14:02:23.597ZS-EPMC72487643235409610.3390/s20092500