G-EDF-Loc models the Euclidean distance field as a block-sparse Gaussian mixture to enable real-time, gradient-based 6DoF localization that remains robust under severe odometry degradation or without IMU priors.
A portable 3d lidar-based system for long-term and wide-area people behavior measurement,
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G-EDF-Loc: 3D Continuous Gaussian Distance Field for Robust Gradient-Based 6DoF Localization
G-EDF-Loc models the Euclidean distance field as a block-sparse Gaussian mixture to enable real-time, gradient-based 6DoF localization that remains robust under severe odometry degradation or without IMU priors.