NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation
Zhicheng Zhou Cheng Zhao Daniel Adolfsson Songzhi Su Yang Gao Tom Duckett Li Sun Zhicheng Zhou Cheng Zhao Daniel Adolfsson Songzhi Su Yang Gao Tom Duckett Li Sun
3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel approach, named NDT-Transformer, for real-time and large-scale place recognition using 3D point clouds. Specifically, a 3D Normal Distribution Transform (NDT) repres...