This github is a supplementary material including data, code, trained model and demo for the paper "NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation", ICRA2021.
The trained model can be downloaded at this link https://drive.google.com/file/d/1rJcswZsH05RZP3rMzfjWiwXXswikJgQd/view?usp=sharing.
Implementation and Maintainer: Cheng Zhao (Henry)
Ref PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition, CVPR 2018.