A graph-attention encoder for semantic LiDAR graphs improves loop-closure detection and pose estimation, with a 13% higher max F1 than SGPR on SemanticKITTI.
In: Proceedings of the IEEE/RSJ Int
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LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks
A graph-attention encoder for semantic LiDAR graphs improves loop-closure detection and pose estimation, with a 13% higher max F1 than SGPR on SemanticKITTI.