Generalizable Stable Points Segmentation for 3D LiDAR Scan-to-Map Long-Term Localization.
Ibrahim HroobBenedikt MerschCyrill StachnissMarc HanheidePublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- long term
- optic disc
- short term
- segmentation method
- segmentation algorithm
- medical images
- image segmentation
- level set
- accurate localization
- object segmentation
- region growing
- segmentation accuracy
- endpoints
- map building
- loop closing
- image analysis
- multiscale
- robot localization
- parametric representation
- lidar data
- seed points
- monte carlo localization
- point sets
- point cloud
- computer vision
- edge detection
- data points
- shape prior
- object contours
- convex hull
- graph cuts
- feature points
- mobile robot
- ellipse fitting
- high resolution
- image processing