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}}
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