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ispc-lab / HRegNet

[ICCV 2021] HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud Registration
MIT License
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Apply to frame-submap #13

Closed nuo-1 closed 1 year ago

nuo-1 commented 1 year ago

Hello, great work done in this model! I want to ask if this model can be applied to single-frame pair of sub-maps. If the application is in the loop closure scenario, it feels better to use submap.

FanLu97 commented 1 year ago

Hello, do you mean registering two sub-maps or registering a frame of point cloud to a sub-map?

nuo-1 commented 1 year ago

Hello, do you mean registering two sub-maps or registering a frame of point cloud to a sub-map?

Of course, both methods can be used. At present, I want to register a frame of point cloud to a sub-map. Can you give me some suggestions on the network and implementation? Thanks!

FanLu97 commented 1 year ago

Hello, I suggest you can first transform the point cloud and submap to a relatively close spatial coordinate, and crop the submap to keep the overlap with the current point cloud.

nuo-1 commented 1 year ago

Hello, I suggest you can first transform the point cloud and submap to a relatively close spatial coordinate, and crop the submap to keep the overlap with the current point cloud.

Okay, thanks, I'll try.