NIDALoc: Neurobiologically Inspired Deep LiDAR Localization
-
python 3.7
-
pytorch 1.9.1
We support the Oxford Radar RobotCar and NCLT datasets right now.
Oxford data_root
├── 2019-01-11-14-02-26-radar-oxford-10k
│ ├── velodyne_left
│ ├── xxx.bin
├── pose_stats.txt
├── pose_max_min.txt
├── train_split.txt
├── test_split.txt
- train -- 2 GPUs
python train.py
- train -- 2 GPUs
python train.py
@ARTICLE{10296854,
author={Yu, Shangshu and Sun, Xiaotian and Li, Wen and Wen, Chenglu and Yang, Yunuo and Si, Bailu and Hu, Guosheng and Wang, Cheng},
journal={IEEE Transactions on Intelligent Transportation Systems},
title={NIDALoc: Neurobiologically Inspired Deep LiDAR Localization},
year={2024},
volume={25},
number={5},
pages={4278-4289}
}