AttDLNet: Attention-based DL Network for 3D LiDAR Place Recognition. (arXiv:2106.09637v3 [cs.CV] UPDATED)

LiDAR-based place recognition is one of the key components of SLAM and global
localization in autonomous vehicles and robotics applications. With the success
of DL approaches in learning useful information from 3D LiDARs, place
recognition has also benefited from this modality, which has led to higher
re-localization and loop-closure detection performance, particularly, in
environments with significant changing conditions. Despite the progress in this
field, the extraction of proper and efficient descriptors from 3D LiDAR data
that are invariant to changing …

3d arxiv attention cv dl lidar network