3D LiDAR Map-Based Robust Localization System Leveraging Pose Divergence Detection and Relocalization.
Seungjae LeeMinho OhI Made Aswin NahrendraWonho SongByeongho YuKevin Christiansen MarsimDongwan KangHyun MyungPublished in: UR (2024)
Keyphrases
- loop closure
- simultaneous localization and mapping
- partial occlusion
- accurate localization
- loop closing
- map building
- bundle adjustment
- mobile robot
- generalized hough transform
- cluttered background
- lidar data
- pose invariant face recognition
- aerial imagery
- error accumulation
- reliable detection
- localization method
- activity detection
- mobile robot localization
- outdoor environments
- multi view
- illumination invariance
- detection method
- detection algorithm
- dynamic environments
- object detection
- high resolution
- mobile robotics
- false positives
- pose estimation
- particle filter
- kalman filter
- maximum a posterior
- video sequences
- computer vision