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Global localization of 3D point clouds in building outline maps of urban outdoor environments
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 is a single 3D laser scan of the surroundings of the robot. The approach extends the generi...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Springer Singapore
2017
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5727157/ https://www.ncbi.nlm.nih.gov/pubmed/29250589 http://dx.doi.org/10.1007/s41315-017-0038-2 |