2024
DOI: 10.3390/s24113611
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Place Recognition through Multiple LiDAR Scans Based on the Hidden Markov Model

Linqiu Gui,
Chunnian Zeng,
Jie Luo
et al.

Abstract: Autonomous driving systems for unmanned ground vehicles (UGV) operating in enclosed environments strongly rely on LiDAR localization with a prior map. Precise initial pose estimation is critical during system startup or when tracking is lost, ensuring safe UGV operation. Existing LiDAR-based place recognition methods often suffer from reduced accuracy due to only matching descriptors from individual LiDAR keyframes. This paper proposes a multi-frame descriptor-matching approach based on the hidden Markov model… Show more

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