OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition

• Published in: IEEE robotics and automation letters Vol. 7; no. 3; pp. 6958 - 6965
• Main Authors: Ma, Junyi, Zhang, Jun, Xu, Jintao, Ai, Rui, Gu, Weihao, Chen, Xieyuanli
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.07.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: data sets for robot learning; Datasets; deep learning methods; Feature extraction; Frame design; Image recognition; Invariants; Laser radar; Lidar; Neural networks; Point cloud compression; Recognition; Semantics; Sensors; SLAM; Transformers; Yaw

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this letter, we address the problem of place recognition based on...