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SemSegMap – 3D Segment-based Semantic Localization
(2021)2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which allow a geometric mapping, and cameras able to provide semantic cues of the environment. Segment-based mapping and localization have been applied with great success to 3D point-cloud data, while semantic ...Conference Paper