Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns to estimate odometry in driving scenarios using point cloud data. The proposed model consumes raw point clouds in order to extract frame-to-frame odometry estimation through a hierarchical model architecture. Also, a local bundle adjustment variation of this model using LSTM layers is implemented. These two approaches are comprehensively evaluated and are compared against the state-of-the-art.
@article{arxiv.2103.03394,
title = {Point Cloud based Hierarchical Deep Odometry Estimation},
author = {Farzan Erlik Nowruzi and Dhanvin Kolhatkar and Prince Kapoor and Robert Laganiere},
journal= {arXiv preprint arXiv:2103.03394},
year = {2021}
}