CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description

01/06/2020 ∙ by Deyu Yin, et al. ∙ 26

As an important technology in 3D mapping, autonomous driving, and robot navigation, LiDAR odometry is still a challenging task. Utilizing compact 2D structured spherical ring projection model and voxel model which preserves the original shape of input data, we propose a fully unsupervised Convolutional Auto-Encoder based LiDAR Odometry (CAE-LO) that detects interest points from spherical ring data using 2D CAE and extracts features from multi-resolution voxel model using 3D CAE. We make several key contributions: 1) experiments based on KITTI dataset show that our interest points can capture more local details to improve the matching success rate on unstructured scenarios and our features outperform state-of-the-art by more than 50 2) besides, we also propose a keyframe selection method based on matching pairs transferring, an odometry refinement method for keyframes based on extended interest points from spherical rings, and a backward pose update method. The odometry refinement experiments verify the proposed ideas' feasibility and effectiveness.

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CAE-LO

Convolutional Auto-Encoder based LiDAR Odometry


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