PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps

Abstract: Localization in the environment is one of the crucial tasks of navigation of a mobile robot or a self-driving vehicle. For long-range routes, performing localization within a dense global lidar map in real time may be difficult, and the creation of such a map may require much memory. To this end, leveraging topological maps may be useful. In this work, we propose PRISM-Loc -- a topological map-based approach for localization in large environments. The proposed approach leverages a twofold localization pipeline, which consists of global place recognition and estimation of the local pose inside the found location. For local pose estimation, we introduce an original lidar scan matching algorithm, which is based on 2D features and point-based optimization. We evaluate the proposed method on the ITLP-Campus dataset on a 3 km route, and compare it against the state-of-the-art metric map-based and place recognition-based competitors. The results of the experiments show that the proposed method outperforms its competitors both quality-wise and computationally-wise.

Overview of the IEEEtran LaTeX Templates Utilization

This paper focuses on providing a comprehensive guide to the IEEEtran LaTeX template, developed and managed by the IEEE Publication Technology Department. It serves as an instructional document aimed at authors intending to submit papers to the Institute of Electrical and Electronics Engineers (IEEE). While it covers aspects pertinent to conference, journal, and technical note submissions, it is grounded on the premise of version 1.8b of IEEEtran, indicative of its applicability to a specific update of the LaTeX template.

Purpose and Design of IEEEtran Templates

The core purpose of the IEEEtran templates is to offer an approximation of the final look and page layout of articles intended for IEEE publications. These templates are not designed for the production of final printed works but facilitate an approximation of formatting, crucial for authors to gauge page count and layout prior to formal submission. They are structured to allow seamless conversion to XML, necessary for integrating with IEEE's composition systems, which subsequently produce the final PDF and HTML formats accessible on the IEEEXplore digital library.

Technical Specifications and Use

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Practical Implications

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Prospective Developments and Impact

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In conclusion, the IEEEtran LaTeX templates stand as a critical resource for authors in the scientific community, facilitating the preparation and submission of manuscripts that comply with IEEE's rigorous standards. While the document at hand outlines its practical implementation, the prospect of ongoing advancements suggests an enduring relevance and potential for future enhancements in scholarly publishing practices.