@article{pinnetkeypointawarelearnedlocaldescripto,
  title = {PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM},
  author = {Yanlong Ma and Nakul S. Joshi and Christa S. Robison and Philip R. Osteen and Brett T. Lopez},
  year = {2026},
  eprint = {2606.28637},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.28637},
}