相关论文: HiTPR: Hierarchical Transformer for Place Recognit…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Visual place recognition (VPR) is a key issue for robotics and autonomous systems. For the trade-off between time and performance, most of methods use the coarse-to-fine hierarchical architecture, which consists of retrieving top-N…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

Extracting robust and general 3D local features is key to downstream tasks such as point cloud registration and reconstruction. Existing learning-based local descriptors are either sensitive to rotation transformations, or rely on classical…

LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews…

Learning meaningful local and global information remains a challenge in point cloud segmentation tasks. When utilizing local information, prior studies indiscriminately aggregates neighbor information from different classes to update query…

Place Recognition is a crucial capability for mobile robot localization and navigation. Image-based or Visual Place Recognition (VPR) is a challenging problem as scene appearance and camera viewpoint can change significantly when places are…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

We present HOTFormerLoc, a novel and versatile Hierarchical Octree-based TransFormer, for large-scale 3D place recognition in both ground-to-ground and ground-to-aerial scenarios across urban and forest environments. We propose an…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

LiDAR Place Recognition (LPR) is a key component in robotic localization, enabling robots to align current scans with prior maps of their environment. While Visual Place Recognition (VPR) has embraced Vision Foundation Models (VFMs) to…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

Discovering inter-point connection for efficient high-dimensional feature extraction from point coordinate is a key challenge in processing point cloud. Most existing methods focus on designing efficient local feature extractors while…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods…