Corpus ID: 227126953

CORAL: Colored structural representation for bi-modal place recognition

  title={CORAL: Colored structural representation for bi-modal place recognition},
  author={Yiyuan Pan and Xuecheng Xu and Weijie Li and Yue Wang and Rong Xiong},
Place recognition is indispensable for drift-free localization system. Due to the variations of the environment, place recognition using single modality has limitations. In this paper, we propose a bi-modal place recognition method, which can extract compound global descriptor from the two modalities, vision and LiDAR. Specifically, we build elevation image generated from point cloud modality as a discriminative structural representation. Based on the 3D information, we derive the… Expand
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