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TNVD-SC: Diagnosing Scan Context Failures in Forests with Terrain-Normalized Vertical Distributions
Long-term LiDAR place recognition in forests is difficult because repetitive vegetation and uneven terrain create severe structural aliasing. We diagnose Scan Context (SC) by separating candidate retrieval from fine matching: on the standardized TreeLoc++ Wild-Places protocol, a TNVD support key pla
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