OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios

03/19/2019
by   Lukas Schaupp, et al.
0

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates from a map, and to estimate the yaw discrepancy needed for bootstrapping local registration methods. We employ a triplet loss function for training and use a hard-negative mining strategy to further increase the performance of our descriptor extractor. In an evaluation on the NCLT and KITTI datasets, we demonstrate that our method outperforms related state-of-the-art approaches based on both data-driven and handcrafted data representation in challenging long-term outdoor conditions.

READ FULL TEXT
research
09/16/2019

Place Recognition for Stereo VisualOdometry using LiDAR descriptors

Place recognition is a core component in SLAM, and in most visual SLAM s...
research
11/30/2020

Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling

Place Recognition (PR) enables the estimation of a globally consistent m...
research
06/07/2022

Object Scan Context: Object-centric Spatial Descriptor for Place Recognition within 3D Point Cloud Map

Place recognition technology endows a SLAM algorithm with the ability to...
research
07/19/2023

Density-invariant Features for Distant Point Cloud Registration

Registration of distant outdoor LiDAR point clouds is crucial to extendi...
research
12/13/2021

MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions, spherical coordinates, and intensity

The 3D LiDAR place recognition aims to estimate a coarse localization in...
research
04/17/2021

Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems

In this paper, we propose a robust end-to-end multi-modal pipeline for p...
research
09/17/2021

Neural Network Based Lidar Gesture Recognition for Realtime Robot Teleoperation

We propose a novel low-complexity lidar gesture recognition system for m...

Please sign up or login with your details

Forgot password? Click here to reset