5 accepted papers
In this letter, we present the anisotropic Angular Radon Spectrum (ARS), a novel feature for global estimation of rotation in a two dimension space. ARS effectively describes collinearity of points and has the properties of translation-invariance and shift-rotation. We derive the analytical expressi
In this letter, we illustrate geometric relation distribution (GRD), a novel signature for place recognition and loop closure with landmark maps. GRD encodes geometric pairwise relations between landmark points into a continuous probability density function. The pairwise angles are represented by vo
Place recognition based on landmarks or features is an important problem occurring in localization, mapping, computer vision and point cloud processing. In this paper, we present GLAROT-3D, a translation and rotation invariant 3D signature based on geometric relations. The proposed method encodes in…
Keypoint features detection from measurements enables efficient localization and map estimation through the compact representation and recognition of locations. The keypoint detector FALKO has been proposed to detect stable points in laser scans for localization and mapping tasks. In this paper, we…
Detecting features in sensor measurements and distinguishing among them is an important capability for robot localization and navigation. Despite the wide diffusion of range finders, there are few works on keypoint features for 2-D LIDAR and there is potential for improvement over the existing metho