3 accepted papers
This paper introduces LAMM, an open-source framework for large-scale multi-session 3D LiDAR point cloud map merging. LAMM can automatically integrate sub-maps from multiple agents carrying LiDARs with different scanning patterns, facilitating place feature extraction, data association, and global op
In this work, we introduce a novel multimodal descriptor, the image-assisting binary and triangle combined (iBTC) descriptor, which fuses LiDAR (Light Detection and Ranging) and camera measurements for 3D place recognition. The inherent invariance of a triangle to rigid transformations inspires us t
In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of triangles is completely invariant to rigid transformations. Base…