Point Cloud based Hierarchical Deep Odometry Estimation

@inproceedings{Nowruzi2021PointCB,
  title={Point Cloud based Hierarchical Deep Odometry Estimation},
  author={F. Nowruzi and Dhanvin Kolhatkar and Prince Kapoor and R. Lagani{\`e}re},
  booktitle={VEHITS},
  year={2021}
}
Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns to estimate odometry in driving scenarios using point cloud data. The proposed model consumes raw point clouds in order to extract frame-to-frame odometry estimation through a hierarchical model architecture. Also, a local bundle adjustment variation of this… Expand

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