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A Method for Fast Re-localization of Sweeping Robot

As an important part of the Internet of Things, the smart home has been implemented and applied relatively early, and it has developed basic technical capabilities and business development models. As an important part of the smart home, sweeping robots have been transformed from high-tech products to ordinary consumer goods and entered thousands of households with the advancement of technology. However, due to the limitation of cost and computing power, the cleaning robot will encounter a large bottleneck when dealing with problems such as re-localization. This paper proposes a method for fast re-localization of a low-computing robot vacuuming platform. This method greatly reduces the search range of the re-localization process by using the house structure information, thereby saving computing power and improving the re-localization efficiency of the algorithm on low computing power platforms. We validate our algorithm on real-world datasets.