Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: PointNetKL: Deep Inference for GICP Covariance Estimation in Bathymetric
  SLAM   Registration methods for point clouds have become a key component of many
SLAM systems on autonomous vehicles. However, an accurate estimate of the
uncertainty of such registration is a key requirement to a consistent fusion of
this kind of measurements in a SLAM filter. This estimate, which is normally
given as a covariance in the transformation computed between point cloud
reference frames, has been modelled following different approaches, among which
the most accurate is considered to be the Monte Carlo method. However, a Monte
Carlo approximation is cumbersome to use inside a time-critical application
such as online SLAM. Efforts have been made to estimate this covariance via
machine learning using carefully designed features to abstract the raw point
clouds. However, the performance of this approach is sensitive to the features
chosen. We argue that it is possible to learn the features along with the
covariance by working with the raw data and thus we propose a new approach
based on PointNet. In this work, we train this network using the KL divergence
between the learned uncertainty distribution and one computed by the Monte
Carlo method as the loss. We test the performance of the general model
presented applying it to our target use-case of SLAM with an autonomous
underwater vehicle (AUV) restricted to the 2-dimensional registration of 3D
bathymetric point clouds.

18
The categories of this paper are: econ
16
The categories of this paper are: stat
17
The categories of this paper are: q-fin
0
The categories of this paper are: hep-ph
6
The categories of this paper are: astro-ph
11
The categories of this paper are: hep-lat
27
The categories of this paper are: comp-gas
5
The categories of this paper are: gr-qc
20
The categories of this paper are: acc-phys
8
The categories of this paper are: hep-ex
23
The categories of this paper are: solv-int
29
The categories of this paper are: funct-an
37
The categories of this paper are: supr-con
30
The categories of this paper are: q-alg
4
The categories of this paper are: cond-mat
12
The categories of this paper are: nucl-th