Single-Shot Global Localization via Graph-Theoretic Correspondence Matching

作     者：Matsuzaki, Shigemichi Koide, Kenji Oishi, Shuji Yokozuka, Masashi Banno, Atsuhiko 

作者机构：Department of Computer Science and Engineering Toyohashi University of Technology Hibarigaoka 1-1 Tenpaku-cho Aichi Toyohashi Japan The Department of Information Technology and Human Factors The National Institute of Advanced Industrial Science and Technology Umezono 1-1-1 Ibaraki Tsukuba3050061 Japan 

出 版 物：《arXiv》 (arXiv)

年 卷 期：2023年

核心收录：

主　　题：Semantics 

摘      要：This paper describes a method of single-shot global localization based on graph-theoretic matching of instances between a query and the prior map. The proposed framework employs correspondence matching based on the maximum clique problem (MCP). The framework is potentially applicable to other map and/or query modalities thanks to the graph-based abstraction of the problem, while many of existing global localization methods rely on a query and the dataset in the same modality. We implement it with a semantically labeled 3D point cloud map, and a semantic segmentation image as a query. Leveraging the graph-theoretic framework, the proposed method realizes global localization exploiting only the map and the query. The method shows promising results on multiple large-scale simulated maps of urban scenes. © 2023, CC BY-SA.