BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR
Georgi Pramatarov,Daniele De Martini,Matthew Gadd,Paul Newman,Georgi Pramatarov,Daniele De Martini,Matthew Gadd,Paul Newman
This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-connected graphs of semantically identified components where each vertex corresponds to an object instance and encodes its shape. Optimal vertex association across graphs allows for full 6-Degree-of-Freedom (DoF) pose estima...
