PVT3D: Point Voxel Transformers for Place Recognition from Sparse Lidar Scans. (arXiv:2211.12542v1 [cs.CV])

Place recognition based on point cloud (LiDAR) scans is an important module
for achieving robust autonomy in robots or self-driving vehicles. Training deep
networks to match such scans presents a difficult trade-off: a higher spatial
resolution of the network's intermediate representations is needed to perform
fine-grained matching of subtle geometric features, but growing it too large
makes the memory requirements infeasible. In this work, we propose a
Point-Voxel Transformer network (PVT3D) that achieves robust fine-grained
matching with low memory requirements. …

arxiv lidar transformers voxel