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PoseMap: Lifelong, Multi-Environment 3D LiDAR Localization
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Reliable long-term localization is key for robotic systems in dynamic environments. In this paper, we propose a novel approach for long-term localization using 3D LiDARs, coined PoseMap. In essence, we extract distinctive features from range measurements and bundle these into local views along with observation poses. The sensor's trajectory is then estimated in a sliding window fashion by matching current and old features and minimizing ...Conference Paper