CORAL: Colored structural representation for bi-modal place recognition
Yiyuan Pan,Xuecheng Xu,Weijie Li,Yunxiang Cui,Yue Wang,Rong Xiong,Yiyuan Pan,Xuecheng Xu,Weijie Li,Yunxiang Cui,Yue Wang,Rong Xiong
Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which can extract a compound global descriptor from the two modalities, vision and LiDAR. Specifically, we first build the elevation image generated from 3D points a...
