Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: FP-Loc: Lightweight and Drift-free Floor Plan-assisted LiDAR
  Localization   We present a novel framework for floor plan-based, full six degree-of-freedom
LiDAR localization. Our approach relies on robust ceiling and ground plane
detection, which solves part of the pose and supports the segmentation of
vertical structure elements such as walls and pillars. Our core contribution is
a novel nearest neighbour data structure for an efficient look-up of nearest
vertical structure elements from the floor plan. The registration is realized
as a pair-wise regularized windowed pose graph optimization. Highly efficient,
accurate and drift-free long-term localization is demonstrated on multiple
scenes.

25
The categories of this paper are: patt-sol
23
The categories of this paper are: solv-int
35
The categories of this paper are: mtrl-th
7
The categories of this paper are: hep-th
5
The categories of this paper are: gr-qc
6
The categories of this paper are: astro-ph
27
The categories of this paper are: comp-gas
0
The categories of this paper are: hep-ph
36
The categories of this paper are: cmp-lg
9
The categories of this paper are: nlin
26
The categories of this paper are: bayes-an
32
The categories of this paper are: atom-ph
22
The categories of this paper are: chao-dyn
2
The categories of this paper are: math
10
The categories of this paper are: q-bio
16
The categories of this paper are: stat