Yuncheng Jin

S-BEVLoc: BEV-Based Self-Supervised Framework for Large-Scale LiDAR Global Localization

LiDAR-based global localization is an essential component of simultaneous localization and mapping (SLAM), which helps loop closure and re-localization. Current approaches rely on ground-truth poses obtained from GPS or SLAM odometry to supervise network training. Despite the great success of these