PICCOLO: Point Cloud-Centric Omnidirectional Localization
           Junho Kim, Changwoon Choi, Hojun Jang, and Young Min Kim
       Dept. of Electrical and Computer Engineering, Seoul National University, Korea
   82magnolia@snu.ac.kr, changwoon.choi00@gmail.com, {j12040208, youngmin.kim}@snu.ac.kr

             Abstract
  We present PICCOLO, a simple and efficient algorithm
for omnidirectional localization. Given a colored point
cloud and a 360 panorama image of a scene, our objective
is to r ...