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ClusterMap Building and Relocalization in Urban Environments for Unmanned Vehicles
2019
Sensors
Map building and map-based relocalization techniques are important for unmanned vehicles operating in urban environments. The existing approaches require expensive high-density laser range finders and suffer from relocalization problems in long-term applications. This study proposes a novel map format called the ClusterMap, on the basis of which an approach to achieving relocalization is developed. The ClusterMap is generated by segmenting the perceived point clouds into different point
doi:10.3390/s19194252
fatcat:svq2dlfzpjgstiiehypaqj5pfm