LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition
Kavisha Vidanapathirana,Milad Ramezani,Peyman Moghadam,Sridha Sridharan,Clinton Fookes,Kavisha Vidanapathirana,Milad Ramezani,Peyman Moghadam,Sridha Sridharan,Clinton Fookes
Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily dependant on the quality of the extracted scene-level representation. While end-to-end solutions - which learn a global descriptor from input point clouds - have ...
