OPAL matches single LiDAR scans to OpenStreetMap tiles using deterministic visibility masks and learnable radial attention, improving top-1 recall by up to 15.98% on KITTI at real-time speed.
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OPAL: Visibility-aware LiDAR-to-OpenStreetMap Place Recognition via Adaptive Radial Fusion
OPAL matches single LiDAR scans to OpenStreetMap tiles using deterministic visibility masks and learnable radial attention, improving top-1 recall by up to 15.98% on KITTI at real-time speed.