BEV2PR: BEV-Enhanced Visual Place Recognition with Structural Cues

arXiv:2403.06600v1 Announce Type: new
Abstract: In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about VPR: 1) For the methods based on both camera and LiDAR sensors, the integration of LiDAR in robotic systems has led to increased expenses, while the alignment of data between different sensors is also a major challenge. 2) Other image-/camera-based …

abstract arxiv bird cs.cv framework image key lidar motivation paper recognition sensors type view visual