[robotics-worldwide] [software] SegMap - A framework for pointcloud-based localisation
We want to announce the release of the implementations behind two of our recent works on localisation for 3D pointclouds.
- First, we have made available a data-driven descriptor which can be used for prior-free localisation, and also to reconstruct the environment and extract semantic information. Details can be found in our RSS 2018 paper titled “SegMap: 3D Segment Mapping using Data-Driven Descriptors”. In this approach features extracted for localization are leveraged to reconstruct the 3D structure of the environment.
- We have also released our incremental approach to localization as presented in our RAL 2018 paper titled “Incremental-Segment-Based Localization in 3-D Point Clouds”. With this we achieved real-time localization using a LiDAR Velodyne sensor.