PocoNet: SLAM-oriented 3D LiDAR Point Cloud Online Compression Network
Jinhao Cui,Hao Zou,Xin Kong,Xuemeng Yang,Xiangrui Zhao,Yong Liu,Wanlong Li,Feng Wen,Hongbo Zhang,Jinhao Cui,Hao Zou,Xin Kong,Xuemeng Yang,Xiangrui Zhao,Yong Liu,Wanlong Li,Feng Wen,Hongbo Zhang
In this paper, we present PocoNet: Point cloud Online COmpression NETwork to address the task of SLAM-oriented compression. The aim of this task is to select a compact subset of points with high priority to maintain localization accuracy. The key insight is that points with high priority have similar geometric features in SLAM scenarios. Hence, we tackle this task as point cloud segmentation to ca...
