LOL: Lidar-only Odometry and Localization in 3D point cloud maps
Dávid Rozenberszki,András L. Majdik,Dávid Rozenberszki,András L. Majdik
In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated drift of the Lidar-only odometry we apply a place recognition method to detect geometrically similar locations between the online 3D point cloud and the a priori o...
