RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
Zhiqiang Chen,Hongbo Chen,Yuhua Qi,Shipeng Zhong,Dapeng Feng,Jin Wu,Weisong Wen,Ming Liu,Zhiqiang Chen,Hongbo Chen,Yuhua Qi,Shipeng Zhong,Dapeng Feng,Jin Wu,Weisong Wen,Ming Liu
LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper presents RELEAD, a LiDAR-centric solution designed to address scan-matching degradation. Our method enables degeneracy-free point cloud registration by solving...
