BVMatch: Lidar-Based Place Recognition Using Bird's-Eye View Images - Luo, Lun; Cao, Si-Yuan; Han, Bin; Shen, Hui-Liang; Li, Junwei (IEEE robotics and automation letters, 2021)
Keywords: Feature extraction; Gabor filters; Image recognition; Laser radar; Lidar; Localization; Object recognition; Pose estimation; range sensing; SLAM; Three-dimensional displays; Transforms