Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Seeing the Wood for the Trees: Reliable Localization in Urban and
  Natural Environments   In this work we introduce Natural Segmentation and Matching (NSM), an
algorithm for reliable localization, using laser, in both urban and natural
environments. Current state-of-the-art global approaches do not generalize well
to structure-poor vegetated areas such as forests or orchards. In these
environments clutter and perceptual aliasing prevents repeatable extraction of
distinctive landmarks between different test runs. In natural forests, tree
trunks are not distinctive, foliage intertwines and there is a complete lack of
planar structure. In this paper we propose a method for place recognition which
uses a more involved feature extraction process which is better suited to this
type of environment. First, a feature extraction module segments stable and
reliable object-sized segments from a point cloud despite the presence of heavy
clutter or tree foliage. Second, repeatable oriented key poses are extracted
and matched with a reliable shape descriptor using a Random Forest to estimate
the current sensor's position within the target map. We present qualitative and
quantitative evaluation on three datasets from different environments - the
KITTI benchmark, a parkland scene and a foliage-heavy forest. The experiments
show how our approach can achieve place recognition in woodlands while also
outperforming current state-of-the-art approaches in urban scenarios without
specific tuning.

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The categories of this paper are: hep-ph
5
The categories of this paper are: gr-qc
24
The categories of this paper are: dg-ga
33
The categories of this paper are: plasm-ph
6
The categories of this paper are: astro-ph
30
The categories of this paper are: q-alg
19
The categories of this paper are: eess
29
The categories of this paper are: funct-an
34
The categories of this paper are: chem-ph
20
The categories of this paper are: acc-phys
28
The categories of this paper are: alg-geom
37
The categories of this paper are: supr-con
22
The categories of this paper are: chao-dyn
12
The categories of this paper are: nucl-th
4
The categories of this paper are: cond-mat
26
The categories of this paper are: bayes-an