True. Our robot uses a particle filter since we're mostly localization by odometry and lidar returns. But if we had an outdoors robot using GPS like the one i

True. Our robot uses a particle filter since we're mostly localization by odometry and lidar returns. But if we had an outdoors robot using GPS like the one in the article then our uncertainty would be a lot more Gaussian and I think we'd switch. Also, for determining the position of your own robot the efficiency isn't a big deal. But if you're tracking a lot of objects in your environment then it becomes more important. And since you're looking at the objects and are tracking relative position the distribution is uni-modal too.