OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition

arXiv:2405.07966v1 Announce Type: new
Abstract: Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods utilize mundane point cloud representations as input and deep learning-based LiDAR-based Place Recognition (LPR) approaches employing different point cloud image inputs with convolutional neural networks (CNNs) or transformer architectures. However, the recently proposed Mamba deep learning model, combined with state space …

abstract arxiv autonomous autonomous systems cloud cs.ai cs.cv decision deep learning detection enabling foundation global independent lidar localization loop making novel operations recognition safe shift slam space state state space model systems tasks type