Research map / Point clouds / Point cloud classification
PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Add the trainable embedding mask (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | translational RMSE (%): 1.490 -> 1.085 | Helped |
| Add the trainable embedding mask (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | rotational RMSE (°/100m): 0.678 -> 0.490 | Helped |
| Optimize embedding masks hierarchically rather than estimating them independently at each level (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | translational RMSE (%): 1.045 -> 1.085 | Helped |
| Optimize embedding masks hierarchically rather than estimating them independently at each level (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | rotational RMSE (°/100m): 0.545 -> 0.490 | Helped |
| Add pose warp-refinement (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | translational RMSE (%): 13.605 -> 1.085 | Helped |
| Add pose warp-refinement (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | rotational RMSE (°/100m): 9.933 -> 0.490 | Helped |
| Add pose warping while retaining feature and mask refinement (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | translational RMSE (%): 4.790 -> 1.085 | Helped |
| Add pose warping while retaining feature and mask refinement (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | rotational RMSE (°/100m): 2.610 -> 0.490 | Helped |
| Start the first embedding at the penultimate rather than the last pyramid level (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | translational RMSE (%): 1.258 -> 1.085 | Helped |
| Start the first embedding at the penultimate rather than the last pyramid level (ablation) | PWCLO-Net · KITTI odometry, mean on 07-10 | rotational RMSE (°/100m): 0.585 -> 0.490 | Helped |
Closest papers by meaning
- DeepPointMap: Advancing LiDAR SLAM with Unified Neural Descriptors (AAAI 2024 · similarity 0.86)
- DiffLO: Semantic-Aware LiDAR Odometry with Diffusion-Based Refinement (CVPR 2025 · similarity 0.86)
- Pre-training a Density-Aware Pose Transformer for Robust LiDAR-based 3D Human Pose Estimation (AAAI 2025 · similarity 0.85)
- LiDAR-Net: A Real-scanned 3D Point Cloud Dataset for Indoor Scenes (CVPR 2024 · similarity 0.85)
- msLPCC: A Multimodal-Driven Scalable Framework for Deep LiDAR Point Cloud Compression (AAAI 2024 · similarity 0.85)
- A Consistency-Aware Spot-Guided Transformer for Versatile and Hierarchical Point Cloud Registration (NeurIPS 2024 · similarity 0.85)
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