FP-Loc: Lightweight and Drift-free Floor Plan-assisted LiDAR Localization
Ling Gao,Laurent Kneip,Ling Gao,Laurent Kneip
We present a novel framework for floor plan-based, full six degree-of-freedom LiDAR localization. Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical structure elements such as walls and pillars. Our core contribution is a novel nearest neighbour data structure for an efficient look-up of nearest vertical structu...
