SSC: Semantic Scan Context for Large-Scale Place Recognition
Lin Li,Xin Kong,Xiangrui Zhao,Tianxin Huang,Wanlong Li,Feng Wen,Hongbo Zhang,Yong Liu,Lin Li,Xin Kong,Xiangrui Zhao,Tianxin Huang,Wanlong Li,Feng Wen,Hongbo Zhang,Yong Liu
Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds challenging. Existing works usually encode low-level features such as coordinate, normal, reflection intensity, etc., as local or global descriptors to represent scene...
