Graph-based PCM with radar-specific uncertainty scoring inside ICP reduces segment relative position error by 29.6% on 1 m segments and up to 55% on 100 m segments versus GICP baseline in feature-poor mine environments.
The normal distributions transform: a new approach to laser scan matching
2 Pith papers cite this work. Polarity classification is still indexing.
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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.
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Graph Theoretical Outlier Rejection for 4D Radar Registration in Feature-Poor Environments
Graph-based PCM with radar-specific uncertainty scoring inside ICP reduces segment relative position error by 29.6% on 1 m segments and up to 55% on 100 m segments versus GICP baseline in feature-poor mine environments.
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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.