Nikolaos Stathoulopoulos

InLiER: Learning-Free Heterogeneous LiDAR Place Recognition via Intermediate Mixed-Radix Structural Keypoint Tokenization

Nikolaos Stathoulopoulos, George Nikolakopoulos

LiDAR place recognition supports loop closure, relocalization, and multi-agent map management. As robotic platforms increasingly combine LiDARs with different fields of view, resolutions, and scanning patterns, existing descriptors degrade because they are tightly coupled to sens…Read more