2 papers
cs.RO2025
When and Where Localization Fails: An Analysis of the Iterative Closest Point in Evolving Environment
Abdel-Raouf Dannaoui, Johann Laconte, Christophe Debain +2
Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, shor…
cs.RO2024
Under Pressure: Altimeter-Aided ICP for 3D Maps Consistency
William Dubois, Nicolas Samson, Effie Daum +2
We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is…