SAGE-ICP: Semantic Information-Assisted ICP
Jiaming Cui,Jiming Chen,Liang Li,Jiaming Cui,Jiming Chen,Liang Li
Robust and accurate pose estimation in unknown environments is an essential part of robotic applications. We focus on LiDAR-based point-to-point ICP combined with effective semantic information. This paper proposes a novel semantic information-assisted ICP method named SAGE-ICP, which leverages semantics in odometry. The semantic information for the whole scan is timely and efficiently extracted b...
