Global Localization in Unstructured Environments Using Semantic Object Maps Built from Various Viewpoints
Jacqueline Ankenbauer,Parker C. Lusk,Annika Thomas,Jonathan P. How,Jacqueline Ankenbauer,Parker C. Lusk,Annika Thomas,Jonathan P. How
We present a novel framework for global localization and guided relocalization of a vehicle in an unstructured environment. Compared to existing methods, our pipeline does not rely on cues from urban fixtures (e.g., lane markings, buildings), nor does it make assumptions that require the vehicle to be navigating on a road network. Instead, we achieve localization in both urban and non-urban enviro...
