A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of both. In this work we leverage a segment extraction and matching approach to achieve place recognition in Light Detection and Ranging (LiDAR) based 3D point cloud maps. One challenge related to this approach is the recognition of segments despite changes inarXiv:1804.09270v1 fatcat:vulys5bk7vc45oqc6solus6cvy