LTSR: Long-term Semantic Relocalization based on HD Map for Autonomous Vehicles
Huayou Wang,Changliang Xue,Yu Tang,Wanlong Li,Feng Wen,Hongbo Zhang,Huayou Wang,Changliang Xue,Yu Tang,Wanlong Li,Feng Wen,Hongbo Zhang
Highly accurate and robust relocalization or localization initialization ability is of great importance for autonomous vehicles (AVs). Traditional GNSS-based methods are not reliable enough in occlusion and multipath conditions. In this paper we propose a novel long-term semantic relocalization algorithm based on HD map and semantic features which are compact in representation. Semantic features a...
