The DOI matches its Crossref record; 55 of the 55 references it cites were found in a registry or an index.
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments
Open accessAbstract
Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this article, we address structural place recognition by recognizing a place based on structural appearance, namely from range sensors. Extending our previous work on a rotation invariant spatial descriptor, the proposed descriptor completes a generic descriptor robust to both rotation (heading) and translation when roll–pitch motions are not severe. We introduce two subdescriptors and enable topological place retrieval followed by the 1-degree of freedom semimetric localization, thereby bridging the gap between topological place retrieval and metric localization. The proposed method has been evaluated thoroughly in terms of environmental complexity and scale. The source code is available and can easily be integrated into existing light detection and ranging simultaneous localization and mapping.
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Cites
Are we ready for autonomous driving? The KITTI vision benchmark suite
Geiger, A., Lenz, P., & Urtasun, R. (2012) · 2012 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2012.6248074 · Cited by 14,897
Speeded-Up Robust Features (SURF)
Bay, H., Ess, A., Tuytelaars, T., & Van Gool, L. (2008) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2007.09.014 · Cited by 13,557 · cited 1×
“The local description-based methods relied on detecting and describing handcrafted local keypoints (i.e., a small patch) [13, 14].”
MethodIntroduction to information retrieval
(2009) · Choice Reviews Online · doi:10.5860/choice.46-2715 · Cited by 12,278
Introduction to Information Retrieval
Manning, C. D., Raghavan, P., & Schütze, H. (2008) · doi:10.1017/cbo9780511809071 · Cited by 11,288
ORB: An efficient alternative to SIFT or SURF
Rublee, E., Rabaud, V., Konolige, K., & Bradski, G. (2011) · 2011 International Conference on Computer Vision · doi:10.1109/iccv.2011.6126544 · Cited by 11,037
NetVLAD: CNN Architecture for Weakly Supervised Place Recognition
Arandjelovic, R., Gronat, P., Torii, A., Pajdla, T., & Sivic, J. (2016) · 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2016.572 · Cited by 2,584
Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain
Shan, T., & Englot, B. (2018) · 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594299 · Cited by 2,295
Bags of Binary Words for Fast Place Recognition in Image Sequences
Galvez-López, D., & Tardos, J. D. (2012) · IEEE Transactions on Robotics · doi:10.1109/tro.2012.2197158 · Cited by 1,913
1 year, 1000 km: The Oxford RobotCar dataset
Maddern, W., Pascoe, G., Linegar, C., & Newman, P. (2017) · The International Journal of Robotics Research · doi:10.1177/0278364916679498 · Cited by 1,632
iSAM2: Incremental smoothing and mapping using the Bayes tree
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Metadata
- Authors
- Kim, G., Choi, S., & Kim, A.
- Venue
- IEEE Transactions on Robotics
- Published
- 2022-06
- Volume
- 38
- Issue
- 3
- Pages
- 1856-1874
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W3211389689
- Cited by
- 319
- References
- 55
- FWCI
- 21.72
- Type
- journal article
- Language
- en
- Open access
- green
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