Lidar-based place recognition for autonomous driving: A survey
LiDAR has gained popularity in autonomous driving due to advantages like long
measurement distance, rich three-dimensional information, and stability in harsh …
measurement distance, rich three-dimensional information, and stability in harsh …
Role of deep learning in loop closure detection for visual and lidar slam: A survey
Loop closure detection is of vital importance in the process of simultaneous localization and
map** (SLAM), as it helps to reduce the cumulative error of the robot's estimated pose and …
map** (SLAM), as it helps to reduce the cumulative error of the robot's estimated pose and …
Scan context++: Structural place recognition robust to rotation and lateral variations in urban environments
Place recognition is a key module in robotic navigation. The existing line of studies mostly
focuses on visual place recognition to recognize previously visited places solely based on …
focuses on visual place recognition to recognize previously visited places solely based on …
L3-net: Towards learning based lidar localization for autonomous driving
We present L3-Net-a novel learning-based LiDAR localization system that achieves
centimeter-level localization accuracy, comparable to prior state-of-the-art systems with …
centimeter-level localization accuracy, comparable to prior state-of-the-art systems with …
Multimodal end-to-end autonomous driving
Y **: Towards the age of spatial machine intelligence
SegMap: Segment-based map** and localization using data-driven descriptors
Precisely estimating a robot's pose in a prior, global map is a fundamental capability for
mobile robotics, eg, autonomous driving or exploration in disaster zones. This task, however …
mobile robotics, eg, autonomous driving or exploration in disaster zones. This task, however …
Lidar iris for loop-closure detection
In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for
fast and accurate loop-closure detection. A binary signature image can be obtained for each …
fast and accurate loop-closure detection. A binary signature image can be obtained for each …
Semantic graph based place recognition for 3d point clouds
Due to the difficulty in generating the effective descriptors which are robust to occlusion and
viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most …
viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most …
A survey on map-based localization techniques for autonomous vehicles
Autonomous vehicles integrate complex software stacks for realizing the necessary iterative
perception, planning, and action operations. One of the foundational layers of such stacks is …
perception, planning, and action operations. One of the foundational layers of such stacks is …