Learning an Overlap-based Observation Model for 3D LiDAR Localization
Xieyuanli Chen,Thomas Läbe,Lorenzo Nardi,Jens Behley,Cyrill Stachniss,Xieyuanli Chen,Thomas Läbe,Lorenzo Nardi,Jens Behley,Cyrill Stachniss
Localization is a crucial capability for mobile robots and autonomous cars. In this paper, we address learning an observation model for Monte-Carlo localization using 3D LiDAR data. We propose a novel, neural network-based observation model that computes the expected overlap of two 3D LiDAR scans. The model predicts the overlap and yaw angle offset between the current sensor reading and virtual fr...
