One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
Sha Lu,Xuecheng Xu,Huan Yin,Zexi Chen,Rong Xiong,Yue Wang,Sha Lu,Xuecheng Xu,Huan Yin,Zexi Chen,Rong Xiong,Yue Wang
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a database of map scans. Inspired by the definition of a recognized place, we consider that a good global localization solution should keep the pose estimation acc...
