The DOI matches its Crossref record; 29 of the 29 references it cites were found in a registry or an index.
LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis
Open accessAbstract
Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In this paper, we develop a novel deep neural network, named LPD-Net (Large-scale Place Description Network), which can extract discriminative and generalizable global descriptors from the raw 3D point cloud. Two modules, the adaptive local feature extraction module and the graph-based neighborhood aggregation module, are proposed, which contribute to extract the local structures and reveal the spatial distribution of local features in the large-scale point cloud, with an end-to-end manner. We implement the proposed global descriptor in solving point cloud based retrieval tasks to achieve the large-scale place recognition. Comparison results show that our LPD-Net is much better than PointNetVLAD and reaches the state-of-the-art. We also compare our LPD-Net with the vision-based solutions to show the robustness of our approach to different weather and light conditions.
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Cites
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Self-citationVoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection
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3D ShapeNets: A deep representation for volumetric shapes
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Autonomous driving system: A comprehensive survey
Zhao, J., Zhao, W., Deng, B., Wang, Z., Zhang, F., Zheng, W., Cao, W., Nan, J., Lian, Y., & Burke, A. F. (2024) · Expert Systems with Applications · doi:10.1016/j.eswa.2023.122836 · Cited by 361
Perception-Aware Multi-Sensor Fusion for 3D LiDAR Semantic Segmentation
Zhuang, Z., Li, R., Jia, K., Wang, Q., Li, Y., & Tan, M. (2021) · 2021 IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv48922.2021.01597 · Cited by 216
Metadata
- Authors
- Liu, Z., Zhou, S., Suo, C., Yin, P., Chen, W., Wang, H., Li, H., & Liu, Y.
- Venue
- 2019 IEEE/CVF International Conference on Computer Vision (ICCV)
- Publisher
- IEEE
- Published
- 2019-10
- Pages
- 2831-2840
- OpenAlex
- W2986519585
- Cited by
- 325
- References
- 29
- FWCI
- 10.46
- Type
- conference paper
- Language
- en
- Open access
- green
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- Liu, Z., Zhou, S., Suo, C., Yin, P., Chen, W., Wang, H., Li, H., & Liu, Y. (2019). LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis. 2019 IEEE/CVF International Conference on Computer Vision (ICCV). https://doi.org/10.1109/iccv.2019.00292
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