KDD-LOAM: Jointly Learned Keypoint Detector and Descriptors Assisted LiDAR Odometry and Mapping
Renlang Huang,Minglei Zhao,Jiming Chen,Liang Li,Renlang Huang,Minglei Zhao,Jiming Chen,Liang Li
Sparse keypoint matching based on distinct 3D feature representations can improve the efficiency and robustness of point cloud registration. Existing learning-based 3D descriptors and keypoint detectors are either independent or loosely coupled, so they cannot fully adapt to each other. In this work, we propose a tightly coupled keypoint detector and descriptor (TCKDD) based on a multi-task fully ...
