Global Data Association for SLAM with 3D Grassmannian Manifold Objects

Parker C. Lusk,Jonathan P. How,Parker C. Lusk,Jonathan P. How

Using pole and plane objects in lidar SLAM can increase accuracy and decrease map storage requirements compared to commonly-used point cloud maps. However, place recognition and geometric verification using these landmarks is challenging due to the requirement for global matching without an initial guess. Existing works typically only leverage either pole or plane landmarks, limiting application t...