3 papers
cs.CV2025
HOTFLoc++: End-to-End Hierarchical LiDAR Place Recognition, Re-Ranking, and 6-DoF Metric Localisation in Forests
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based…
cs.CV2025
HOTFormerLoc: Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Views
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
We present HOTFormerLoc, a novel and versatile Hierarchical Octree-based TransFormer, for large-scale 3D place recognition in both ground-to-ground and ground-to-aerial scenarios a…
cs.RO2024
Online 6DoF Global Localisation in Forests using Semantically-Guided Re-Localisation and Cross-View Factor-Graph Optimisation
Lucas Carvalho de Lima, Ethan Griffiths, Maryam Haghighat +5
This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically…