Range Image-based LiDAR Localization for Autonomous Vehicles
Xieyuanli Chen Ignacio Vizzo Thomas Läbe Jens Behley Cyrill Stachniss Xieyuanli Chen Ignacio Vizzo Thomas Läbe Jens Behley Cyrill Stachniss
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a large-scale outdoor environment represented by a triangular mesh. We use the Poisson surface reconstruction to generate the mesh-based map representation. Based ...