OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this letter, we address the problem of place recognition based on...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 3; pp. 6958 - 6965
Main Authors:	Ma, Junyi, Zhang, Jun, Xu, Jintao, Ai, Rui, Gu, Weihao, Chen, Xieyuanli
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	data sets for robot learning Datasets deep learning methods Feature extraction Frame design Image recognition Invariants Laser radar Lidar Neural networks Point cloud compression Recognition Semantics Sensors SLAM Transformers Yaw
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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