Authors:Farzan Erlik Nowruzi¹;Dhanvin Kolhatkar¹;Prince Kapoor² andRobert Laganiere^1;2

Affiliations:¹School of Electrical Engineering and Computer Sciences, University of Ottawa, Canada;²Sensorcortek Inc., Canada

Keyword(s):Deep Learning, Lidar, Pointcloud, Odometry.

Abstract:Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns to estimate odometry in driving scenarios using point cloud data. The proposed model consumes raw point clouds in order to extract frame-to-frame odometry estimation through a hierarchical model architecture. Also, a local bundle adjustment variation of this model using LSTM layers is implemented. These two approaches are comprehensively evaluated and are compared against the state-of-the-art.