Visual Localization in a Prior 3D LiDAR Map Combining Points and Lines.
Guangzhao ZhouHaihui YuanShiqiang ZhuZhiyong HuangYanfu FanXinliang ZhongRuilong DuJianjun GuPublished in: ROBIO (2021)
Keyphrases
- maximum a posteriori
- feature points
- point cloud
- map building
- line features
- visual perception
- visual information
- monte carlo localization
- line segments
- visual features
- point sets
- prior information
- prior knowledge
- data points
- raster images
- loop closing
- line drawings
- object localization
- point features
- robot localization
- contour lines
- geometric invariants
- intersection points
- straight line
- localization error
- convex hull
- maximum likelihood
- markov random field
- low level