ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments
Bin Peng,Hongle Xie,Weidong Chen,Bin Peng,Hongle Xie,Weidong Chen
Long-term scene changes pose challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that provides robust localization against those challenges. Our method starts with activation of a mapping process temporarily when global matching towards the pre-built map is unreliable. The temporary map will be merged onto the pre-built map for later localization sess...
