Global Localization with Object-Level Semantics and Topology.
IEEE International Conference on Robotics and Automation（2019）
关键词
object-level representation,semantic object association,semantic-level point alignment,object-level semantics,appearance-based approach,3D dense semantics,semantic graph,vision-based global localization,topology,autonomous navigation,simultaneous localization and mapping,place recognition,6-DoF pose estimation,visual feature matching
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