This repo contains the implementation of our paper

SGHD: Semantic-Geometric Combined 3D Histogram Descriptor for Global Localization in Autonomous Vehicles

Fan Wang, CuiYun Fang, Chaofan Zhang, Wen Zhang, Guoqing Deng and Yong Liu

SGHD is a Semantic-Geometric guided Global Localization framework with robust Place re-identification and 6-DoF pose estimation.

The code will be released after our paper is accepted.