2022
MinkLoc3D-SI: 3D LiDAR Place Recognition With Sparse Convolutions, Spherical Coordinates, and Intensity
RA-L 2022
The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solutions to this problem include hand-crafted point cloud descriptors (e.g., ScanContext, M2DP, LiDAR IRIS) and deep learning-b