MinkUNeXt-SI feeds spherical coordinates and normalized LiDAR intensity into a Minkowski U-Net and reports competitive place recognition recall on Oxford, USyd, KITTI, NCLT, and a new campus dataset.
2024 IEEE Radar Conference (RadarConf24), 1–6 (2024)
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MinkUNeXt-SI: Improving point cloud-based place recognition including spherical coordinates and LiDAR intensity
MinkUNeXt-SI feeds spherical coordinates and normalized LiDAR intensity into a Minkowski U-Net and reports competitive place recognition recall on Oxford, USyd, KITTI, NCLT, and a new campus dataset.