Stefano Caselli

2 accepted papers

2019

Geometric Relation Distribution for Place Recognition

Dario Lodi Rizzini, Francesco Galasso, Stefano Caselli

RA-L 2019

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

Cited by 8 Source ↗Scholar ↗

2016

Fast Keypoint Features From Laser Scanner for Robot Localization and Mapping

Fabjan Kallasi, Dario Lodi Rizzini, Stefano Caselli

RA-L 2016

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

Cited by 55 Source ↗Scholar ↗