LOCALIZATION BY A NEURAL NETWORK

Method comprising:encoding a first 3D point cloud of a first coordinate system into a first encoded map comprising first feature center points and first feature vectors;encoding a second 3D point cloud of a second coordinate system into a second encoded map comprising second feature center points and second feature vectors;adapting the first input feature vectors based on the first input feature vectors and the second input feature vectors, to obtain a first joint map;adapting the second input feature vectors based on the first input feature vectors and the second input feature vectors to obtain a second joint map;calculating similarities between the first joint feature vectors and the second joint feature vectors and point correlations based on the similarities;checking whether a correlation condition is fulfilled;extracting the coordinates of the first joint feature center points and the coordinates of the second joint feature center points if the correlation condition is fulfilled;calculating a transformation between the first coordinate system and the second coordinate system based on the pairs of extracted coordinates.