BEV-SLD: Self-Supervised Scene Landmark Detection for Global Localization with LiDAR Bird's-Eye View Images
BEV-SLD: Self-Supervised Scene Landmark Detection for Global Localization with LiDAR Bird's-Eye View Images
著者: David Skuddis, Vincent Ress, Wei Zhang, Vincent Ofosu Nyako, Norbert Haala
分類: cs.CV, cs.RO
原文アブストラクト
We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific patterns at a prescribed spatial density and treat them as landmarks. A consistency loss aligns learnable global landmark coordinates with per-frame heatmaps, yielding consistent landmark detections across the scene. Across campus, industrial, and forest environments, BEV-SLD delivers robust localization and achieves strong performance compared to state-of-the-art methods.