Map Compressibility Assessment for LiDAR Registration
Ming-Fang Chang,Wei Dong,Joshua Mangelson,Michael Kaess,Simon Lucey,Ming-Fang Chang,Wei Dong,Joshua Mangelson,Michael Kaess,Simon Lucey
We aim to assess the performance of LiDAR-to-map registration on compressive maps. Modern autonomous vehicles utilize pre-built HD (High-Definition) maps to perform sensor-to-map registration, which recovers pose estimation failures and reduces drift in a large-scale environment. However, sensor-to-map registration is usually realized by registering the sensor to a dense 3D model, which occupies m...
