3 papers
cs.CV2024
That's My Point: Compact Object-centric LiDAR Pose Estimation for Large-scale Outdoor Localisation
Georgi Pramatarov, Matthew Gadd, Paul Newman +1
This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all poi…
cs.RO2023
SEM-GAT: Explainable Semantic Pose Estimation using Learned Graph Attention
Efimia Panagiotaki, Daniele De Martini, Georgi Pramatarov +2
This paper proposes a Graph Neural Network(GNN)-based method for exploiting semantics and local geometry to guide the identification of reliable pointcloud registration candidates.…
cs.CV2022
BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR
Georgi Pramatarov, Daniele De Martini, Matthew Gadd +1
This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-conn…