Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation in the global prior map. Specifically, we present a semi-handcrafted representation learning method for LiDAR point clouds using siamese LocNets, which states the place recognition problem to a similarity modeling problem. With the final learned representations by LocNet, a global localization framework with range-only observations is proposed. To demonstrate the performance and effectiveness of our global localization system, KITTI dataset is employed for comparison with other algorithms, and also on our long-time multi-session datasets for evaluation. The result shows that our system can achieve high accuracy.


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    Titel :

    LocNet: Global Localization in 3D Point Clouds for Mobile Vehicles


    Beteiligte:
    Yin, Huan (Autor:in) / Tang, Li (Autor:in) / Ding, Xiaqing (Autor:in) / Wang, Yue (Autor:in) / Xiong, Rong (Autor:in)


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    4209415 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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