@inproceedings{13a995a2a7f64094b6b216e14e4cb3ef,
title = "6-DOF Localization in 3D Feature Points Maps for LiDARs of Small FoV",
abstract = "LOAM (lidar odometry and mapping) plays an important role in the field of mobile robot and relocalization based on prior maps is essential for LiDAR-based navigation. In this paper, we propose a system of LOAM and real-Time relocalization only based on a low cost Lidar with small FoV (field of view). By taking effort on the matching method, the problem of drift at the sharp turn is settled and the robustness in map-building is improved. To accelerate the matching process in relocalization, our relocalization algorithm is based on the feature points map, not the full map. Finally we demonstrate our system to be accurate and robust by experiments in our school.",
keywords = "LiDAR, mapping, relocalization",
author = "Shenliang Li and Pengfei Qu and Jinyang Zhng and Zhansheng Duan and Kuizhi Mei",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 5th International Conference on Robotics and Automation Sciences, ICRAS 2021 ; Conference date: 11-06-2021 Through 13-06-2021",
year = "2021",
month = jun,
day = "11",
doi = "10.1109/ICRAS52289.2021.9476626",
language = "英语",
series = "2021 5th International Conference on Robotics and Automation Sciences, ICRAS 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "250--254",
booktitle = "2021 5th International Conference on Robotics and Automation Sciences, ICRAS 2021",
}