GRAIL: A Gradients-of-Intensities-based Local Descriptor for Map-based Localization Using LiDAR Sensors.
Constanze HungarSara BrakemeierStefan JürgensFrank KösterPublished in: ITSC (2019)
Keyphrases
- sensor networks
- monte carlo localization
- loop closing
- real time
- sensor data
- maximum a posteriori
- data fusion
- point cloud
- robot localization
- position information
- multi sensor
- mobile robot localization
- simultaneous localization and mapping
- object localization
- genetic algorithm
- data sets
- lidar data
- imaging sensors
- markov random field