NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation
Zhicheng Zhou,Cheng Zhao,Daniel Adolfsson,Songzhi Su,Yang Gao,Tom Duckett,Li Sun,Zhicheng Zhou,Cheng Zhao,Daniel Adolfsson,Songzhi Su,Yang Gao,Tom Duckett,Li Sun
3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel approach, named NDT-Transformer, for real-time and large-scale place recognition using 3D point clouds. Specifically, a 3D Normal Distribution Transform (NDT) repres...
