Salience-guided Ground Factor for Robust Localization of Delivery Robots in Complex Urban Environments
Jooyong Park,Jungwoo Lee,Euncheol Choi,Younggun Cho,Jooyong Park,Jungwoo Lee,Euncheol Choi,Younggun Cho
In urban environments for delivery robots, particularly in areas such as campuses and towns, many custom features defy standard road semantic categorizations. Addressing this challenge, our paper introduces a method leveraging Salient Object Detection (SOD) to extract these unique features, employing them as pivotal factors for enhanced robot loop closure and localization. Traditional geometric fe...
