CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition
Yuhang Ming,Xingrui Yang,Guofeng Zhang,Andrew Calway,Yuhang Ming,Xingrui Yang,Guofeng Zhang,Andrew Calway
We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the first stage is trained for the auxiliary task of semantic segmentation and the second stage uses features from layers in the first stage to generate discriminate...
