激光雷达闭环检测/地点识别算法OverlapTransformer/SeqOT（2022）

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已于 2023-04-01 10:25:01 修改

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分类专栏： slam学习文章标签：地点识别 SLAM 回环检测深度学习

于 2022-07-06 21:58:00 首次发布

本文链接：https://blog.csdn.net/weixin_44684139/article/details/125648625

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最新激光雷达闭环检测/地点识别算法——OverlapTransformer已经完整开源，相关论文已经被RAL/IROS 2022收录

https://github.com/haomo-ai/OverlapTransformer

OverlapTransformer (OT) is a novel lightweight neural network exploiting the LiDAR range images to achieve fast execution with less than 4 ms per frame using python, less than 2 ms per frame using C++ in LiDAR similarity estimation. It is a newer version of our previous OverlapNet, which is faster and more accurate in LiDAR-based loop closure detection and place recognition.

@ARTICLE{ma2022ral,
  author={Ma, Junyi and Zhang, Jun and Xu, Jintao and Ai, Rui and Gu, Weihao and Chen, Xieyuanli},
  journal={IEEE Robotics and Automation Letters}, 
  title={OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition}, 
  year={2022},
  volume={7},
  number={3},
  pages={6958-6965},
  doi={10.1109/LRA.2022.3178797}}

其序列增强版本SeqOT也已经开源，相关论文已经被IEEE Transactions on Industrial Electronics 2022收录

https://github.com/BIT-MJY/SeqOT

SeqOT is a sequence-enhanced LiDAR-based place recognition method based on our previous work OverlapTransformer.

@ARTICLE{ma2022tie,
  author={Ma, Junyi and Chen, Xieyuanli and Xu, Jingyi and Xiong, Guangming},
  journal={IEEE Transactions on Industrial Electronics}, 
  title={SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data}, 
  year={2022},
  doi={10.1109/TIE.2022.3229385}}