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Paper Review. OneShot Global Localization_Instant LiDAR-Visual Pose Estimation”@ICRA’ 2020

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Introduction

LiDAR Localization

Experiments

Conclusions & Reviews

  • This paper presented OneShot, a global localization algorithm based on sparse 3D point cloud segmentation.

  • Increase the performance of the segment descriptor by fusing the visual information.

  • Increased descriptor retrieval rates by 17% to 26% when compared to using only LiDAR.

Reference

Paper Reviews, CV
3D Pose Estimation
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