LiDAR-Based Initial Global Localization Using Two-Dimensional (2D) Submap Projection Image (SPI)
Yanhao Li Hao Li Yanhao Li Hao Li
Initial global localization is important to mobile robotics in terms of navigation initialization (or re-initialization) and loop closure in SLAM. 3D LiDARs are commonly used for mobile robotics, yet LiDAR-based initial global localization (especially at large scale such as in outdoor environments) is still challenging due to lack of salient features in LiDAR range data. Inspired by visual SLAM or...