Reliable-loc

Reliable LiDAR global localization using spatial verification and pose uncertainty. The implementation is based on PatchAugNet, Overlap-loc, and SpectralGV.

Source code is coming soon！

Demo (Click it to see the complete video on YouTube)

Experimental results of Reliable-loc on 6 data

CS college

Info campus

Zhongshan park

Jiefang road

Yanjiang road 1

Yanjiang road 2

Ablation study: the necessity of switching loc modes

Clip 1: incomplete map coverage

Reg-loc

Reliable-loc

Clip 2: feature insufficiency

Reg-loc

Reliable-loc

Clip 3: feature insufficiency

Reg-loc

Reliable-loc

Clip 4: feature insufficiency

Reg-loc

Reliable-loc

Note: Both λ and sigma being zero means that registration based on local features is invalid.