1.Incremental Segment-Based Localization in 3D Point Clouds
- We propose an efficient method for localization based on 3D segment matching.
- A set of incremental algorithms for the normal estimation, segmentation and recognition steps is presented.
- Localization at 10Hz in urban driving environment is achieved (speedup of x7.1 over batch solution).
- The implementation is available open source:
- LiDAR point cloud segmentation is important for autonomous driving.
- We propose a CNN based model with high accuracy and real-time inference speed.
- Real-world data and simulated data are combined to train the model.
- Source code is released: https://github.com/BichenWuUCB/SqueezeSeg
3.Sampled-Point Network for Classification of Deformed Building Element Point Clouds<