Sparse semantic map building and relocalization for UGV using 3D point clouds in outdoor environments
Sign Up to like & getrecommendations! Published in 2020 at "Neurocomputing"
DOI: 10.1016/j.neucom.2020.02.103
Abstract: Abstract In this paper, we proposed a sparse semantic map building method and an outdoor relocalization strategy based on this map. Most existing semantic mapping approaches focus on improving semantic understanding of single frames and… read more here.
Keywords: sparse semantic; semantic map; map building; map ... See more keywords
Sparse Semantic Map-Based Monocular Localization in Traffic Scenes Using Learned 2D-3D Point-Line Correspondences
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3207800
Abstract: Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the… read more here.
Keywords: localization; based monocular; sparse semantic; map based ... See more keywords