Michael Wise

Slice Transformer and Self-supervised Learning for 6DoF Localization in 3D Point Cloud Maps

Precise localization is critical for autonomous vehicles. We present a self-supervised learning method that employs transformers for the first time for the task of outdoor localization using LiDAR data. We propose a pre-text task that reorganizes the slices of a 360° LiDAR scan to leverage its axial…