DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Giseop | ko |
dc.contributor.author | Park, Byungjae | ko |
dc.contributor.author | Kim, Ayoung | ko |
dc.date.accessioned | 2019-04-15T14:12:43Z | - |
dc.date.available | 2019-04-15T14:12:43Z | - |
dc.date.created | 2019-03-26 | - |
dc.date.created | 2019-03-26 | - |
dc.date.issued | 2019-04 | - |
dc.identifier.citation | IEEE Robotics and Automation Letters, v.4, no.2, pp.1948 - 1955 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10203/253952 | - |
dc.description.abstract | In this letter, we present a long-term localization method that effectively exploits the structural information of an environment via an image format. The proposed method presents a robust year-round localization performance even when learned in just a single day. The proposed localizer learns a point cloud descriptor, named Scan Context Image (SCI), and performs robot localization on a grid map by formulating the place recognition problem as place classification using a convolutional neural network. Our method is faster than existing methods proposed for place recognition because it avoids a pairwise comparison between a query and scans in a database. In addition, we provide thorough validations using publicly available long-term datasets, the NCLT dataset and the Oxford RobotCar dataset, and show that the Scan Context Image (SCI) localization attains consistent performance over a year and outperforms existing methods. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | 1-Day Learning, 1-Year Localization: Long-Term LiDAR Localization Using Scan Context Image | - |
dc.type | Article | - |
dc.identifier.wosid | 000460678700014 | - |
dc.identifier.scopusid | 2-s2.0-85062621439 | - |
dc.type.rims | ART | - |
dc.citation.volume | 4 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 1948 | - |
dc.citation.endingpage | 1955 | - |
dc.citation.publicationname | IEEE Robotics and Automation Letters | - |
dc.identifier.doi | 10.1109/LRA.2019.2897340 | - |
dc.contributor.localauthor | Kim, Ayoung | - |
dc.contributor.nonIdAuthor | Park, Byungjae | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Localization | - |
dc.subject.keywordAuthor | range sensing | - |
dc.subject.keywordAuthor | SLAM | - |
dc.subject.keywordPlus | PLACE RECOGNITION | - |
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