2023
DOI: 10.3390/s23229261
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Efficient Underground Tunnel Place Recognition Algorithm Based on Farthest Point Subsampling and Dual-Attention Transformer

Xinghua Chai,
Jianyong Yang,
Xiangming Yan
et al.

Abstract: An autonomous place recognition system is essential for scenarios where GPS is useless, such as underground tunnels. However, it is difficult to use existing algorithms to fully utilize the small number of effective features in underground tunnel data, and recognition accuracy is difficult to guarantee. In order to solve this challenge, an efficient point cloud position recognition algorithm, named Dual-Attention Transformer Network (DAT-Net), is proposed in this paper. The algorithm firstly adopts the farthes… Show more

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