Before revision:  Considering that learning based Samplable Observation Model may fail to capture the true pose sometimes, we furthermore propose the Adaptive Mixture MCL , which adaptively selects updating mode for each particle to tolerate this situation.
After revision:  Considering that learning based Samplable Observation Model may fail to capture the true pose sometimes, we furthermore propose the Adaptive Mixture MCL (AdaM MCL), which deploys a trusty mechanism to adaptively select updating mode for each particle to tolerate this situation.