[robotics-worldwide] [software] SegMap - A framework for pointcloud-based localisation

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[robotics-worldwide] [software] SegMap - A framework for pointcloud-based localisation

Juan Nieto
Dear all,

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.

The implementation of both approaches is available online: https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ethz-2Dasl_segmap&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=BpQIZjK5pMdJblCrSWvm5ZWomq3geF-v8hVzZi5XzeA&s=9fYzmSG-ZrNMfS8PhCjY7bzkf7rkkgupoNpGUm11GpE&e= <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ethz-2Dasl_segmap&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=BpQIZjK5pMdJblCrSWvm5ZWomq3geF-v8hVzZi5XzeA&s=9fYzmSG-ZrNMfS8PhCjY7bzkf7rkkgupoNpGUm11GpE&e=> and video: https://urldefense.proofpoint.com/v2/url?u=https-3A__youtu.be_CMk4w4eRobg&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=BpQIZjK5pMdJblCrSWvm5ZWomq3geF-v8hVzZi5XzeA&s=73e8jK4zXPQf1N75X6ubhu-0SOAatURf6kxmb4b7eRU&e= <https://urldefense.proofpoint.com/v2/url?u=https-3A__youtu.be_CMk4w4eRobg&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=BpQIZjK5pMdJblCrSWvm5ZWomq3geF-v8hVzZi5XzeA&s=73e8jK4zXPQf1N75X6ubhu-0SOAatURf6kxmb4b7eRU&e=>
Best regards,
SegMap Team @ ASL ETH Zürich



Juan Nieto   |   Deputy Director
Autonomous Systems Lab   |  ETH Zürich, LEE J 219
Leonhardstrasse 21   |   Zürich 8092, Switzerland
Ph: +41 44 633 87 49  |  https://urldefense.proofpoint.com/v2/url?u=http-3A__www.nietojuan.com&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=BpQIZjK5pMdJblCrSWvm5ZWomq3geF-v8hVzZi5XzeA&s=Jhgr7g---gS01nhxvZlYJhYirbMU71GKhuh3StBdnjU&e= <https://urldefense.proofpoint.com/v2/url?u=http-3A__www.nietojuan.com_&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=BpQIZjK5pMdJblCrSWvm5ZWomq3geF-v8hVzZi5XzeA&s=RDXN_PmW_37QSyyqiPfLFrLQSsTg3Wo733lnU1SGMlk&e=>

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