Place recognition plays an important role in autonomous vehicles localization, particularly in GNSS-degraded environments. LiDAR-based place recognition (LPR) could achieve localization by comparing on-line LiDAR point clouds with a pre-built off-line point-cloud database. However, LiDAR sensors are expensive, which hinders their large-scale deployment on every vehicle. To alleviate this issue, we propose a novel cross-modal network, which replaces on-line point clouds with on-line images captured by a low-cost and lightweight monocular camera. We use image sequences instead of single images, which would be helpful to eliminate false matches since image sequences capture more environmental information. Furthermore, we propose an image sequence descriptor to represent the observed environment by learning multi-image integration and global representation. Experiments on 6 trajectories of the KITTI dataset demonstrate our effectiveness and superiority over single image-based methods.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Novel Place Recognition Network using Visual Sequences and LiDAR Point Clouds for Autonomous Vehicles


    Beteiligte:
    Xu, Huaiyuan (Autor:in) / Liu, Huaping (Autor:in) / Meng, Shiyu (Autor:in) / Sun, Yuxiang (Autor:in)


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    3758046 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Point clouds registration system for autonomous vehicles

    HE RUNXIN / XIAO YONG / YUAN PENGFEI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Autonomous UAV navigation in GPS denied environments using Lidar Point Clouds

    Briggs, Michael / Castano, Lina / Morgan, Eric | AIAA | 2023


    A POINT CLOUDS REGISTRATION SYSTEM FOR AUTONOMOUS VEHICLES

    HE RUNXIN / XIAO YONG / YUAN PENGFEI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    SALSANET: FAST ROAD AND VEHICLE SEGMENTATION IN LIDAR POINT CLOUDS FOR AUTONOMOUS DRIVING

    Aksoy, Eren Erdal / Baci, Saimir / Cavdar, Selcuk | British Library Conference Proceedings | 2020


    DNN-Based Recognition of Pole-Like Objects in LiDAR Point Clouds

    Plachetka, Christopher / Fricke, Jenny / Klingner, Marvin et al. | IEEE | 2021