3 accepted papers
LiDAR is widely adopted in Simultaneous Localization And Mapping (SLAM) and High Definition (HD) map production. The accuracy of LiDAR Odometry (LO) is of great importance, especially in GPS-denied environments. However, we found typical LO results are prone to drift upwards along the vertical direc…
Global localization is essential for autonomous mobile systems, especially indoor applications where the GPS signal is denied. Although the appearance-based methods have been successfully applied in various localization tasks, they face various challenges such as light variation, viewpoint changing,…
The main contribution of this paper is a planar scan matching algorithm that makes use of the incident angle of a scan point as a feature to enhance the robustness to large relative transformations, particularly in orientation. A new definition of the incident angle is introduced and its consistency…