论文标题
FP-LOC：轻巧且无漂移的平面辅助激光雷达定位
FP-Loc: Lightweight and Drift-free Floor Plan-assisted LiDAR Localization
论文作者
论文摘要
我们为基于平面图的，完整的六个自由度激光雷达定位提供了一个新颖的框架。我们的方法依赖于强大的天花板和地面平面检测，它解决了部分姿势并支持垂直结构元素（例如墙壁和柱子）的分割。我们的核心贡献是一种新型的最近的邻居数据结构，可有效查找地板计划中最近的垂直结构元素。注册被视为一对正规化的窗口姿势图优化。在多个场景中证明了高效，准确和无漂移的长期定位。
We present a novel framework for floor plan-based, full six degree-of-freedom LiDAR localization. Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical structure elements such as walls and pillars. Our core contribution is a novel nearest neighbour data structure for an efficient look-up of nearest vertical structure elements from the floor plan. The registration is realized as a pair-wise regularized windowed pose graph optimization. Highly efficient, accurate and drift-free long-term localization is demonstrated on multiple scenes.
