G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model

2 code implementations • 22 Aug 2023 • Zhijian Qiao, Zehuan Yu, Binqian Jiang, Huan Yin, Shaojie Shen

Utilizing these GEMs, we present a distrust-and-verify scheme based on a Pyramid Compatibility Graph for Global Registration (PAGOR).

Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation

1 code implementation • 13 Feb 2023 • Binqian Jiang, Shaojie Shen

This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario.

Loop Closure Detection Pose Estimation +1