A Coarse-to-Fine Place Recognition Approach using Attention-guided Descriptors and Overlap Estimation
Chencan Fu,Lin Li,Jianbiao Mei,Yukai Ma,Linpeng Peng,Xiangrui Zhao,Yong Liu,Chencan Fu,Lin Li,Jianbiao Mei,Yukai Ma,Linpeng Peng,Xiangrui Zhao,Yong Liu
Place recognition is a challenging but crucial task in robotics. Current description-based methods may be limited by representation capabilities, while pairwise similarity-based methods require exhaustive searches, which is time-consuming. In this paper, we present a novel coarse-to-fine approach to address these problems, which combines BEV (Bird’s Eye View) feature extraction, coarse-grained mat...
