2022
Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity
IROS 2022poster
High-Definition (HD) maps are needed for robust navigation of autonomous vehicles, limited by the on-board storage capacity. To solve this, we propose a novel framework, Environment-Aware Normal Distributions Transform (EA-NDT), that significantly improves compression of standard NDT map representat…