Global localization of 3D point clouds in building outline maps of urban outdoor environments

@inproceedings{Landsiedel2017GlobalLO,
  title={Global localization of 3D point clouds in building outline maps of urban outdoor environments},
  author={Christian Landsiedel and Dirk Wollherr},
  booktitle={International Journal of Intelligent Robotics and Applications},
  year={2017}
}
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 generic chamfer matching template matching technique from image processing by including visibility analysis in the cost function. Thus, the observed building planes are matched to the expected view of the… CONTINUE READING
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