SOAR improves UAV LiDAR relocalization by 40% success rate using sliding-window attention and invariant initialization on a new dataset with 4 scenes and 13 irregular paths.
Loam: Lidar odometry and mapping in real-time
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SOAR: Regression-based LiDAR Relocalization for UAVs
SOAR improves UAV LiDAR relocalization by 40% success rate using sliding-window attention and invariant initialization on a new dataset with 4 scenes and 13 irregular paths.