LiDAR localization at 100 FPS: A map-aided and template descriptor-based global method

With the development of multi-beam Light Detection and Ranging (LiDAR) sensors, fast and accurate LiDAR-based localization has become a crucial issue in robotics and autonomous driving. However, balancing accuracy and efficiency remains challenging in existing methods. In this paper, we propose a su...

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Bibliographic Details

Published in:	International Journal of Applied Earth Observations and Geoinformation
Main Authors:	Pengcheng Shi, Jiayuan Li, Yongjun Zhang
Format:	Article
Language:	English
Published:	Elsevier 2023-06-01
Subjects:	SLAM Global localization LiDAR Template descriptor KD tree
Online Access:	http://www.sciencedirect.com/science/article/pii/S1569843223001589