PSF-LO: Parameterized Semantic Features Based Lidar Odometry
Guibin Chen Bosheng Wang Xiaoliang Wang Huanjun Deng Bing Wang Shuo Zhang Guibin Chen Bosheng Wang Xiaoliang Wang Huanjun Deng Bing Wang Shuo Zhang
Lidar odometry (LO) is a key technology in numerous reliable and accurate localization and mapping systems of autonomous driving. The state-of-the-art LO methods generally leverage geometric information to perform point cloud registration. Furthermore, obtaining the point cloud semantic information describing the environment more abundantly will facilitate the registration. We present a novel sema...