A5076431799- Robotics and Sensor-Based Localization
- 3D Surveying and Cultural Heritage
- Indoor and Outdoor Localization Technologies
- Underwater Vehicles and Communication Systems
- Remote Sensing and LiDAR Applications
Xi'an Jiaotong University
2022-2023
Localization is a fundamental and crucial module for autonomous vehicles. Most of the existing localization methodologies, such as signal-dependent methods (RTK-GPS Bluetooth), simultaneous mapping (SLAM), map-based methods, have been utilized in outdoor driving vehicles indoor robot positioning. However, they suffer from severe limitations, signal-blocked scenes GPS, computing resource occupation explosion large-scale scenarios, intolerable time delay, registration divergence SLAM/map-based...
Current LiDAR odometry, mapping and localization methods leverage point-wise representations of 3D scenes achieve high accuracy in autonomous driving tasks. However, the space-inefficiency that use limits their development usage practical applications. In particular, scan-submap matching global map representation are restricted by inefficiency nearest neighbor searching (NNS) for large-volume point clouds. To improve space-time efficiency, we propose a novel method describing using quadric...