CLMM-Net: Robust Cascaded LiDAR Map Matching based on Multi-Level Intensity Map
Kai Chen,Lei He,Xiaofeng Wang,Yuqian Liu,Ming Zhao,Kai Chen,Lei He,Xiaofeng Wang,Yuqian Liu,Ming Zhao
LiDAR map matching(LMM) is a critical localization technique in autonomous driving while existing methods have problems in terms of both accuracy and robustness when driving in the scenes with poor structure information (e.g. highways). This paper put forward a multi-level intensity map based cascaded network for LiDAR map matching in autonomous driving. The network uses an effective multi-level i...
