Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud
Xiaqing Ding,Xuecheng Xu,Sha Lu,Yanmei Jiao,Mengwen Tan,Rong Xiong,Huanjun Deng,Mingyang Li,Yue Wang,Xiaqing Ding,Xuecheng Xu,Sha Lu,Yanmei Jiao,Mengwen Tan,Rong Xiong,Huanjun Deng,Mingyang Li,Yue Wang
Global point cloud registration is an essential module for localization, of which the main difficulty exists in estimating the rotation globally without initial value. With the aid of gravity alignment, the degree of freedom in point cloud registration could be reduced to 4DoF, in which only the heading angle is required for rotation estimation. In this paper, we propose a fast and accurate global...
