Localization and tracking in known large environments using portable real-time 3D sensors

作者：

Highlights：

• We face the ego-motion estimation and localization in known large environments.

• A portable 3D sensor is used to solve the place recognition and tracking problems.

• An efficient search space reduction technique is proposed.

• Global localization is addressed using a robust place recognizer.

• A tracking algorithm is introduced to update the sensor pose as it moves.

摘要

•We face the ego-motion estimation and localization in known large environments.•A portable 3D sensor is used to solve the place recognition and tracking problems.•An efficient search space reduction technique is proposed.•Global localization is addressed using a robust place recognizer.•A tracking algorithm is introduced to update the sensor pose as it moves.

论文关键词：Place recognition,Ego-motion,3D sensors

论文评审过程：Received 21 April 2015, Revised 19 November 2015, Accepted 23 November 2015, Available online 7 June 2016, Version of Record 7 June 2016.

论文官网地址：https://doi.org/10.1016/j.cviu.2015.11.012