Learning-based Localizability Estimation for Robust LiDAR Localization
Julian Nubert,Etienne Walther,Shehryar Khattak,Marco Hutter,Julian Nubert,Etienne Walther,Shehryar Khattak,Marco Hutter
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time. Yet, as a consequence of insufficient environmental constraints present in the scene, this dependence on geometry can result in localization failure, happening ...
