轻量级激光雷达定位系统，城市环境中精准实时定位。
PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps
- 用紧凑拓扑图+原始点云匹配实现定位
- 在大型数据集上达99%成功率，每秒150毫秒
- 适合嵌入式设备，抗城市环境干扰
我们提出PRISM-Loc——一种轻量且鲁棒的室外大场景定位方法，结合紧凑的拓扑表示与直接作用于原始激光雷达点云的新型扫描匹配和路边检测模块。该方法专为资源受限平台设计，强调实时性能和对常见城市感知挑战的韧性。通过全局位置识别与原创扫描匹配技术，在紧凑拓扑地图中实现高精度定位。在标准基准和嵌入式平台上实验验证了其有效性。在大规模ITLP-Campus数据集上达到99%的成功率，单次定位耗时150毫秒，仅需20 MB地图即可完成定位。主要贡献包括：(1) 城市级定位的紧凑表示；(2) 直接基于原始激光点的路边检测与扫描匹配流程；(3) 方法性能的全面评估与分析。
原文摘要 · Abstract (English)
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans. The method is designed for resource-constrained platforms and emphasizes real-time performance and resilience to common urban sensing challenges. It provides accurate localization in compact topological maps using global place recognition and an original scan matching technique. Experiments on standard benchmarks and on an embedded platform demonstrate the effectiveness of our approach. Our method achieves a 99\% success rate on the large-scale ITLP-Campus dataset while running at 150 ms per localization and using a 20 MB map for localization. We highlight three main contributions: (1) a compact representation for city-scale localization; (2) a novel curb detection and scan matching pipeline operating directly on raw LiDAR points; (3) a thorough evaluation of our method with performance analysis.
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