Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling
Kavisha Vidanapathirana Peyman Moghadam Ben Harwood Muming Zhao Sridha Sridharan Clinton Fookes Kavisha Vidanapathirana Peyman Moghadam Ben Harwood Muming Zhao Sridha Sridharan Clinton Fookes
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D LiDAR point clouds in large-scale environments. We propose a method for extracting and encoding topological and temporal information related to components in a sc...