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Get to the point: learning lidar place recognition and metric localisation using overhead imagery

Abstract:

This paper is about localising a robot in overhead images using lidar. Specifically; we show how to solve both place recognition and metric localisation of a lidar using only publicly available overhead imagery as a map proxy. This is in contrast to current approaches that rely on prior sensor maps. To handle the drastic modality difference (overhead image vs. on the ground lidar); our method learns a representation that purposely and suitably transforms a given overhead image into a collecti...

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Publication status:
Published

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Publisher copy:
10.15607/RSS.2021.XVII.003

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
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Name:
Engineering and Physical Sciences Research Council
Grant:
EP/M019918/1
Publisher:
Robotics: Science and Systems
Journal:
Proceedings of Robotics: Science and Systems, 2021 More from this journal
Publication date:
2021-07-12
Acceptance date:
2021-01-01
Event title:
Robotics: Science and Systems, 2021
DOI:
Language:
English
Keywords:
Pubs id:
1242883
Local pid:
pubs:1242883
Deposit date:
2022-03-09

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