Retriever: Point Cloud Retrieval in Compressed 3D Maps
Louis Wiesmann,Rodrigo Marcuzzi,Cyrill Stachniss,Jens Behley,Louis Wiesmann,Rodrigo Marcuzzi,Cyrill Stachniss,Jens Behley
Most autonomous driving and robotic applications require retrieving map data around the vehicle's current location. Those maps can cover large areas and are often stored in a compressed form to save memory and allow for efficient transmission. In this paper, we address the problem of place recognition in a compressed point cloud map. To this end, we propose a novel deep neural network architecture...
