Online 6DoF Global Localisation in Forests using Semantically-Guided Re-Localisation and Cross-View Factor-Graph Optimisation

Lucas Carvalho de Lima, Ethan Griffiths, Maryam Haghighat +5

This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically…