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dc.contributor.author 김기섭 -
dc.contributor.author 박명옥 -
dc.contributor.author 손준우 -
dc.date.accessioned 2026-02-11T16:40:11Z -
dc.date.available 2026-02-11T16:40:11Z -
dc.date.created 2025-12-17 -
dc.date.issued 2025-11-29 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/60067 -
dc.description.abstract This paper presents a LiDAR-based localization method that remains robust to long-term map changes in urban environments. While most existing localization approaches rely on up-to-date high-definition maps, our method achieves accurate pose estimation even when using outdated maps built years earlier. Built upon the KISS-ICP framework, the proposed system introduces adaptive map registration and global consistency maintenance against structural changes such as new buildings, roadworks, and vegetation growth. Experimental results in campus and urban settings demonstrate globally consistent alignment within 7 cm despite multi-year map discrepancies, confirming the method’s effectiveness for long-term autonomous navigation. -
dc.language Korean -
dc.publisher 대한전자공학회 -
dc.relation.ispartof 대한전자공학회 학술대회 -
dc.title 도심환경에서의 변화에 강인한 LiDAR 위치인식 기법 -
dc.title.alternative LiDAR Localization Robust to Long-Term Map Changes in Urban Environments -
dc.type Conference Paper -
dc.identifier.bibliographicCitation 대한전자공학회 2025년도 추계학술대회, pp.976 - 979 -
dc.identifier.url https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE12551179 -
dc.citation.conferenceDate 2025-11-28 -
dc.citation.conferencePlace KO -
dc.citation.conferencePlace 경기도 광주 -
dc.citation.endPage 979 -
dc.citation.startPage 976 -
dc.citation.title 대한전자공학회 2025년도 추계학술대회 -
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김기섭
Kim, Giseop김기섭

Department of Robotics and Mechatronics Engineering

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