LiDAR place recognition for construction sites using a diffusion model trained on simulated scans predicts multiple position candidates and reaches about 77% accuracy within 2 meters on five real-world floors.
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Diffusion Based Robust LiDAR Place Recognition
LiDAR place recognition for construction sites using a diffusion model trained on simulated scans predicts multiple position candidates and reaches about 77% accuracy within 2 meters on five real-world floors.