2022
EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale
RA-L 2022
The letter presents a deep neural network-based method for global and local descriptors extraction from a point cloud acquired by a rotating 3D LiDAR. The descriptors can be used for two-stage 6DoF relocalization. First, a course position is retrieved by finding candidates with the closest global de