A robust pose graph approach for city scale LiDAR mapping.
Sheng YangXiaoling ZhuXing NianLu FengXiaozhi QuTeng MaPublished in: IROS (2018)
Keyphrases
- urban areas
- partial occlusion
- pose invariant face recognition
- random walk
- point cloud
- graph representation
- illumination variations
- lidar data
- pose estimation
- camera pose estimation
- robust recognition
- graph theory
- graph model
- illumination invariance
- object pose
- graph based algorithm
- graph partitioning
- directed graph
- connected components
- structured data
- computationally efficient