May, 2023
TReR:用于 3D LiDAR 地方识别的轻量级 Transformer 重新排序方法
TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition
Tiago Barros, Luís Garrote, Martin Aleksandrov, Cristiano Premebida, Urbano J. Nunes
TL;DR采用 Transformer-based re-ranking 方法,以全局描述为确定因素,实现了轻量化和有效的 Loop Closure Detection,与另外两种方法相比,在 KITTI Odometry 数据集上表现出更好的鲁棒性和效率。