DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition
Sha Lu,Xuecheng Xu,Li Tang,Rong Xiong,Yue Wang,Sha Lu,Xuecheng Xu,Li Tang,Rong Xiong,Yue Wang
LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the robot re-visits previous places with a large perspective difference. To address the challenge, we propose DeepRING to learn the roto-translation invariant represen...
