We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of …
Many existing datasets for lidar place recognition are solely representative of structured urban environments, and have recently been saturated in performance by deep learning …
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This …
The recognition of places that have already been visited is a fundamental requirement for a mobile robot. This particularly concerns the detection of loop closures while mapping …
LiDAR-based place recognition (LPR) is one of the basic capabilities of robots, which can retrieve scenes from maps and identify previously visited locations based on 3D point …
Y Zhang, P Shi, J Li - arXiv preprint arXiv:2306.10561, 2023 - arxiv.org
LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated …
J Ma, G Xiong, J Xu, X Chen - IEEE Transactions on Industrial …, 2023 - ieeexplore.ieee.org
LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR …
We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D …
Place recognition is seen as a crucial factor to correct cumulative errors in Simultaneous Localization and Mapping (SLAM) applications. Most existing studies focus on visual place …