Unifying Local and Global Multimodal Features for Place Recognition in Aliased and Low-Texture Environments
Alberto García-Hernández,Riccardo Giubilato,Klaus H. Strobl,Javier Civera,Rudolph Triebel,Alberto García-Hernández,Riccardo Giubilato,Klaus H. Strobl,Javier Civera,Rudolph Triebel
Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing for Unifying Local and Global Multimodal Features) that 1) leverages multi-modality by cross-attention blocks between vision and LiDAR features, and 2) includes ...
