47 citations · 103 across the 15 of their papers we have counts for
4 papers · 1 filter
MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions, spherical coordinates, and intensity
Kamil Żywanowski, Adam Banaszczyk, Michał R. Nowicki +1
The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solution…
EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale
Jacek Komorowski, Monika Wysoczanska, Tomasz Trzcinski
The paper presents a deep neural network-based method for global and local descriptors extraction from a point cloud acquired by a rotating 3D LiDAR. The descriptors can be used fo…
Large-Scale Topological Radar Localization Using Learned Descriptors
Jacek Komorowski, Monika Wysoczanska, Tomasz Trzcinski
In this work, we propose a method for large-scale topological localization based on radar scan images using learned descriptors. We present a simple yet efficient deep network arch…
MinkLoc++: Lidar and Monocular Image Fusion for Place Recognition
Jacek Komorowski, Monika Wysoczanska, Tomasz Trzcinski
We introduce a discriminative multimodal descriptor based on a pair of sensor readings: a point cloud from a LiDAR and an image from an RGB camera. Our descriptor, named MinkLoc++,…