LiDAR-Generated Images Derived Keypoints Assisted Point Cloud Registration Scheme in Odometry Estimation
Keypoint detection and description play a pivotal role in various robotics and autonomous applications, including Visual Odometry (VO), visual navigation, and Simultaneous Localization And Mapping (SLAM).While a myriad of keypoint detectors and descriptors have been extensively studied in conventional camera images, the effectiveness of these techn