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PRBonn / PIN_SLAM

📍PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency [TRO' 24]
MIT License
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Add pure-localization mode #16

Closed YuePanEdward closed 3 weeks ago

YuePanEdward commented 4 months ago

It would be nice to have a pure-localization mode so that we can localize the robot inside a pre-built map. This may also work for the revisited region. We can get rid of the repeated mapping and only do the localization when there are not much new observations.

wendwosenbb commented 1 month ago

@YuePanEdward any updates on this?

YuePanEdward commented 1 month ago

@YuePanEdward any updates on this?

Thanks for your interest. I will update soon.

YuePanEdward commented 3 weeks ago

The pose tracking version of localization with a loaded pre-built map has already been added. Therefore, this issue is closed temporarily. The documents will be updated. We can reopen it later for the global localization version.