METHODS AND SYSTEMS FOR DETERMINING AN INITIAL EGO-POSE FOR INITIALIZATION OF SELF-LOCALIZATION

A computer implemented method for determining an initial ego-pose for initialization of self-localization comprises the following steps carried out by computer hardware components: providing a plurality of particles in a map; grouping the particles in a plurality of clusters, each cluster comprising a respective subset of the plurality of particles; during particle filtering, injecting particles based on the plurality of clusters; and determining an initial ego-pose based on the particle filtering.