CAE-LO
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CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description
CAE-LO
@article{yin2020caelo,
title={CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description},
author={Deyu Yin and Qian Zhang and Jingbin Liu and Xinlian Liang and Yunsheng Wang and Jyri Maanpää and Hao Ma and Juha Hyyppä and Ruizhi Chen},
journal={arXiv preprint arXiv:2001.01354},
year={2020}
}
@article{
title={Interest Point Detection from Multi-Beam LiDAR Point Cloud Using Unsupervised CNN},
author={Deyu Yin, Qian Zhang, Jingbin Liu, Xinlian Liang, Yunsheng Wang, Shoubin Chen, Jyri Maanpää, Juha Hyyppä, Ruizhi Chen},
journal={IET Image Processing},
year={2020}
}
See the rankings in KITTI, our method's name is "CAE-LO".
Usage
- Basic enviornments for python3 and Keras. Simple networks. No worries. Package requirements can be found in
requirements.txt
. -
Dirs.py
to modify dictionaries. -
BatchProcess.py
projects PCs to spherical rings with multi-thread processing. -
BatchVoxelization.py
project PCs into multi-solution voxel model with multi-thread processing. -
SphericalRing.py
to do basic function about spherical ring model, especially the function of getting keypts. - You can try
Match.py
to see some demos using trained models. -
PoseEstimation.py
to generate initial odometry. -
RefinePoses.py
to generate refined odometry based on extended interest points & ground normals, and also to show generated trajectories. (The code for generating ground normals is currently commented. Uncomment it if you want to use.)
Notes
- Generated interest points and features for sequence 00 and 01 can be found in GoogleDrive.
- The final refined trajectories of sequence 00-10 can be found in GoogleDrive.
- The data arragement format is simple. Just folders like "KeyPts", "Features", "InliersIdx", "SphericalRing", etc.
- Package PCLKeypoint in
PclKeyPts.py
can be installed from: https://github.com/lijx10/PCLKeypoints. - If you have any problems or confunsions, please post them in ISSUES or contact me by email.