Graph-Loc: Robust Graph-Based LiDAR Pose Tracking with Compact Structural Map Priors under Low Observability and Occlusion

Wentao Zhao, Yihe Niu, Zikun Chen +4

Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observ…