OneShot Global Localization: Instant LiDAR-Visual Pose Estimation
Sebastian Ratz,Marcin Dymczyk,Roland Siegwart,Renaud Dubé,Sebastian Ratz,Marcin Dymczyk,Roland Siegwart,Renaud Dubé
Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while outperforming approaches based on integrating a sequence of point clouds. Our approach, which does not require the robot to move, relies on learning-based descr...
