Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D LiDAR point clouds in large-scale environments. We propose a method for extracting and encoding topological and temporal information related to components in a sc...