Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
Lukas Bernreiter Lionel Ott Juan Nieto Roland Siegwart Cesar Cadena Lukas Bernreiter Lionel Ott Juan Nieto Roland Siegwart Cesar Cadena
In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition where the sensor systems can differ from the map building to the query. Our approach operates directly on images and LiDAR scans without requiring any local feature extraction modules. By projecting the sensor data onto the unit sphere, we learn a multi-modal descriptor of partially overlapping scenes using a ...