SDSL — Sparse Distance Sampling Localization
SDSL is a unified C++ library (with Python bindings) for deterministic robot localization based on sparse distance sampling. It solves the kidnapped-robot problem — recovering the robot’s pose from a handful of distance measurements — without particle filters or probabilistic priors.
The library is based on research presented at ICRA’23, WAFR’24 and ICRA’25.
Python API Reference
C++ API Reference