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cs.RO2025
Pole-centric Descriptors for Robust Robot Localization: Evaluation under Pole-at-Distance (PaD) Observations using the Small Pole Landmark (SPL) Dataset
Wuhao Xie, Kanji Tanaka
While pole-like structures are widely recognized as stable geometric anchors for long-term robot localization, their identification reliability degrades significantly under Pole-at…
cs.RO2025
Pole-Image: A Self-Supervised Pole-Anchored Descriptor for Long-Term LiDAR Localization and Map Maintenance
Wuhao Xie, Kanji Tanaka
Long-term autonomy for mobile robots requires both robust self-localization and reliable map maintenance. Conventional landmark-based methods face a fundamental trade-off between l…