Real-Time 3D Map Update at Point-Level for LiDAR-Based Localization in Changing Environments

In this paper, a novel framework for real-time lo- calization through pre-built map update by 3D LiDAR mounted on a robot is proposed. Autonomous mobile robots usually use high-precision 3D maps (i.e., HD maps) built in advance. However, as time passes, the environmental map changes from the actual environment, adversely affecting autonomous navigation. In addition, it is costly to recreate an HD map every time the environment changes. Therefore, it is necessary to update environmental maps simply and frequently. We propose a method for real-time map updating in the form of point clouds and validate the results of integrating map update with localization.