CoFi: Coarse-to-Fine ICP for LiDAR Localization in an Efficient Long-lasting Point Cloud Map.
Yecheng LyuXinming HuangZiming ZhangPublished in: CoRR (2021)
Keyphrases
- point cloud
- coarse to fine
- long lasting
- iterative closest point
- multiresolution
- multiscale
- structure from motion
- long term
- object detection
- image registration
- hierarchical segmentation
- lidar data
- point sets
- icp algorithm
- point cloud data
- real world objects
- stereo camera
- dynamic programming
- matching scheme
- laser scanner
- optical flow estimation
- active shape model
- multi class
- high quality