期刊
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
卷 -, 期 -, 页码 5075-5081出版社
IEEE
DOI: 10.1109/ICRA48506.2021.9560915
关键词
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Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in SLAM. The proposed method, Locus, uses 3D LiDAR point clouds in large-scale environments and outperforms state-of-the-art methods on the KITTI dataset. It demonstrates robustness in challenging situations such as occlusions and viewpoint changes in 3D LiDAR point clouds.
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D LiDAR point clouds in large-scale environments. We propose a method for extracting and encoding topological and temporal information related to components in a scene and demonstrate how the inclusion of this auxiliary information in place description leads to more robust and discriminative scene representations. Second-order pooling along with a nonlinear transform is used to aggregate these multi-level features to generate a fixed-length global descriptor, which is invariant to the permutation of input features. The proposed method outperforms state-of-the-art methods on the KITTI dataset. Furthermore, Locus is demonstrated to be robust across several challenging situations such as occlusions and viewpoint changes in 3D LiDAR point clouds. The open-source implementation is available at: https://github.com/csiro-robotics/locus.
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