Global localization of 3D point clouds in building outline maps of urban outdoor environments
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Intelligent Robotics and Applications"
DOI: 10.1007/s41315-017-0038-2
Abstract: This paper presents a method to localize a robot in a global coordinate frame based on a sparse 2D map containing outlines of building and road network information and no location prior information. Its input… read more here.
Keywords: localization point; building outline; global localization; point clouds ... See more keywords
X-View: Graph-Based Semantic Multiview Localization
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2801879
Abstract: Global registration of multiview robot data is a challenging task. Appearance-based global localization approaches often fail under drastic view-point changes, as representations have limited view-point invariance. This letter is based on the idea that human-made… read more here.
Keywords: global localization; view; multiview; tex math ... See more keywords
Extracting Statistical Signatures of Geometry and Structure in 2D Occupancy Grid Maps for Global Localization
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3151154
Abstract: Global localization (or place recognition) is a method of finding the current location of a robot on a map generated by a mapping process, and it is an open field that has not yet been… read more here.
Keywords: occupancy grid; geometry; global localization; extracting statistical ... See more keywords
S-BEVLoc: BEV-Based Self-Supervised Framework for Large-Scale LiDAR Global Localization
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3595020
Abstract: LiDAR-based global localization is an essentialcomponent of simultaneous localization and mapping (SLAM), which helps loop closure and re-localization. Current approaches rely on ground-truth poses obtained from GPS or SLAM odometry to supervise network training. Despite… read more here.
Keywords: self supervised; supervised framework; lidar global; localization ... See more keywords
Multi-Sector Overlap Loss: A Universal Framework for One-Shot 6DoF Global Localization Across Heterogeneous LiDARs
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3597891
Abstract: This letter presents a universal LiDAR point cloud global localization framework based on multi-sector overlapping loss to address the localization challenges caused by heterogeneous LiDAR point clouds with varying resolutions, scanning formats, and field of… read more here.
Keywords: loss; point; global localization; localization ... See more keywords
Mixture Density-PoseNet and its Application to Monocular Camera-Based Global Localization
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2020.2986086
Abstract: Global localization using a monocular camera is one of the most challenging problems in computer vision and intelligent robotics. In this article, a new deep neural network named Mixture Density (MD)-PoseNet is proposed to address… read more here.
Keywords: monocular camera; mixture density; posenet; global localization ... See more keywords
Global Localization Based on Tether and Visual-Inertial Odometry With Adsorption Constraints for Climbing Robots
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2022.3205952
Abstract: Localization in a large-scale three-dimensional scene is a key challenge faced by climbing robots on large workpieces. This article proposes a global localization method for climbing robots based on tether displacement sensor, visual-inertial odometry (VIO),… read more here.
Keywords: adsorption constraints; localization; based tether; global localization ... See more keywords
BEVPlace++: Fast, Robust, and Lightweight LiDAR Global Localization for Autonomous Ground Vehicles
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2025.3585385
Abstract: This article introduces BEVPlace++, a novel, fast, and robust light detection and ranging (LiDAR) global localization method for autonomous ground vehicles (AGV). It uses lightweight convolutional neural networks (CNNs) on bird’s eye view (BEV) image-like… read more here.
Keywords: autonomous ground; lidar global; ground vehicles; localization ... See more keywords