NIDALoc

NIDALoc: Neurobiologically Inspired Deep LiDAR Localization

Environment

• python 3.7

• pytorch 1.9.1

Data

We support the Oxford Radar RobotCar and NCLT datasets right now.

Oxford data_root
├── 2019-01-11-14-02-26-radar-oxford-10k
│   ├── velodyne_left
│       ├── xxx.bin
├── pose_stats.txt
├── pose_max_min.txt
├── train_split.txt
├── test_split.txt

Run

Oxford

• train -- 2 GPUs

python train.py

NCLT

• train -- 2 GPUs

python train.py

Citation

@ARTICLE{10296854,
  author={Yu, Shangshu and Sun, Xiaotian and Li, Wen and Wen, Chenglu and Yang, Yunuo and Si, Bailu and Hu, Guosheng and Wang, Cheng},
  journal={IEEE Transactions on Intelligent Transportation Systems}, 
  title={NIDALoc: Neurobiologically Inspired Deep LiDAR Localization}, 
  year={2024},
  volume={25},
  number={5},
  pages={4278-4289}
}