Attention-guided LiDAR segmentation and odometry using image-to-point cloud saliency transfer
Guanqun Ding,
Nevrez İmamoğlu,
Ali Caglayan
et al.
Abstract:LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories for 3D semantic segmentation and the influence of dynamic objects for LiDAR odometry estimation, which increases the importance of using representative/salient landmarks as reference points for robust feature learning. To address these challenges, we propose a saliency-guid… Show more
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