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arXiv · 2306.03641

Single-Shot Global Localization via Graph-Theoretic Correspondence Matching

Shigemichi Matsuzaki·Kenji Koide·Shuji Oishi·Masashi Yokozuka·Atsuhiko Banno
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Abstract

This paper describes a method of global localization based on graph-theoretic association of instances between a query and the prior map. The proposed framework employs correspondence matching based on the maximum clique problem (MCP). The framework is potentially applicable to other map and/or query modalities thanks to the graph-based abstraction of the problem, while many of existing global localization methods rely on a query and the dataset in the same modality. We implement it with a semantically labeled 3D point cloud map, and a semantic segmentation image as a query. Leveraging the graph-theoretic framework, the proposed method realizes global localization exploiting only the map and the query. The method shows promising results on multiple large-scale simulated maps of urban scenes.

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Shigemichi Matsuzaki, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno. 2023-06-06. Single-Shot Global Localization via Graph-Theoretic Correspondence Matching. https://arxiv.org/abs/2306.03641

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