STD: Stable Triangle Descriptor for 3D place recognition
Chongjian Yuan,Jiarong Lin,Zuhao Zou,Xiaoping Hong,Fu Zhang,Chongjian Yuan,Jiarong Lin,Zuhao Zou,Xiaoping Hong,Fu Zhang
In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of triangles is completely invariant to rigid transformations. Based on this property, we first design an algorithm to efficiently extract local key points from the 3D...
