mini-PointNetPlus: A Local Feature Descriptor in Deep Learning Model for Real-time 3D Environment Perception - Luo, Chuanyu; Cheng, Nuo; Ma, Sikun; Xiang, Jun; Li, Xiaohan; Lei, Shengguang; Li, Pu (2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Intelligent Robots and Systems (IROS), 2024 IEEE/RSJ International Conference on, 2024)