Web: http://arxiv.org/abs/2209.07951

Sept. 19, 2022, 1:14 a.m. | Junyi Ma, Xieyuanli Chen, Jingyi Xu, Guangming Xiong

cs.CV updates on arXiv.org arxiv.org

Place recognition is an important component for autonomous vehicles to
achieve loop closing or global localization. In this paper, we tackle the
problem of place recognition based on sequential 3D LiDAR scans obtained by an
onboard LiDAR sensor. We propose a transformer-based network named SeqOT to
exploit the temporal and spatial information provided by sequential range
images generated from the LiDAR data. It uses multi-scale transformers to
generate a global descriptor for each sequence of LiDAR range images in an …

arxiv data lidar network temporal transformer

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