SoftMP: Attentive feature pooling for joint local feature detection and description for place recognition in changing environments
Fangming Yuan Peer Neubert Stefan Schubert Peter Protzel Fangming Yuan Peer Neubert Stefan Schubert Peter Protzel
Visual place recognition is the task of finding matchings of images that show the same place in the world. Combinations of appearance changes (e.g. changing illumination or weather) and geometric changes (e.g. viewpoint changes or occlusions) challenge existing approaches. Learning-based local image feature pipelines are a promising approach to this type of problem. We present a novel attentive fe...