Research map / Point clouds / Point cloud classification
TransLO: A Window-Based Masked Point Transformer Framework for Large-Scale LiDAR Odometry
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| use TransLO instead of LOAM with mapping | LiDAR odometry · KITTI odometry 07-10 mean | translation RMSE (%): 1.278 -> 0.993 | Helped |
| use TransLO instead of LOAM with mapping | LiDAR odometry · KITTI odometry 07-10 mean | rotation RMSE (°/100m): 0.504 -> 0.500 | Helped |
| use TransLO instead of Nubert et al. | LiDAR odometry · KITTI odometry 09/10 mean | translation RMSE (%): 1.660 -> 1.210 | Helped |
| use TransLO instead of Nubert et al. | LiDAR odometry · KITTI odometry 09/10 mean | rotation RMSE (°/100m): 0.685 -> 0.590 | Helped |
| use TransLO instead of LodoNet | LiDAR odometry · KITTI odometry 07/08 mean | translation RMSE (%): 1.950 -> 0.965 | Helped |
| use TransLO instead of LodoNet | LiDAR odometry · KITTI odometry 07/08 mean | rotation RMSE (°/100m): 1.305 -> 0.420 | Helped |
| add projection-aware mask and MCFA (ablation) | TransLO · KITTI odometry 07-10 mean | translation RMSE (%): 1.590 -> 0.993 | Helped |
| add projection-aware mask and MCFA (ablation) | TransLO · KITTI odometry 07-10 mean | rotation RMSE (°/100m): 0.848 -> 0.500 | Helped |
| add MCFA (ablation) | TransLO · KITTI odometry 07-10 mean | translation RMSE (%): 1.158 -> 0.993 | Helped |
| add MCFA (ablation) | TransLO · KITTI odometry 07-10 mean | rotation RMSE (°/100m): 0.610 -> 0.500 | Helped |
| add WMSA (ablation) | TransLO · KITTI odometry 07-10 mean | translation RMSE (%): 1.590 -> 0.993 | Helped |
| add WMSA (ablation) | TransLO · KITTI odometry 07-10 mean | rotation RMSE (°/100m): 0.848 -> 0.500 | Helped |
Closest papers by meaning
- TULIP: Transformer for Upsampling of LiDAR Point Clouds (CVPR 2024 · similarity 0.87)
- PTT: Point-Trajectory Transformer for Efficient Temporal 3D Object Detection (CVPR 2024 · similarity 0.87)
- A Consistency-Aware Spot-Guided Transformer for Versatile and Hierarchical Point Cloud Registration (NeurIPS 2024 · similarity 0.86)
- Point Transformer V3: Simpler Faster Stronger (CVPR 2024 · similarity 0.85)
- DiffLO: Semantic-Aware LiDAR Odometry with Diffusion-Based Refinement (CVPR 2025 · similarity 0.85)
- DeepPointMap: Advancing LiDAR SLAM with Unified Neural Descriptors (AAAI 2024 · similarity 0.85)
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