HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud
Zhixing Hou,Yan Yan,Chengzhong Xu,Hui Kong,Zhixing Hou,Yan Yan,Chengzhong Xu,Hui Kong
Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points and the contextual dependency among global points simultaneously, we investigate the exploitation of transformer-based network for feature extraction, and propose a Hierarchical Transformer for Place Recognition (HiTPR). T...
