Web: http://arxiv.org/abs/2203.00567

Sept. 16, 2022, 1:15 a.m. | Chunwei Xing, Xinyu Sun, Andrei Cramariuc, Samuel Gull, Jen Jen Chung, Cesar Cadena, Roland Siegwart, Florian Tschopp

cs.CV updates on arXiv.org arxiv.org

Current descriptors for global localization often struggle under vast
viewpoint or appearance changes. One possible improvement is the addition of
topological information on semantic objects. However, handcrafted topological
descriptors are hard to tune and not robust to environmental noise, drastic
perspective changes, object occlusion or misdetections. To solve this problem,
we formulate a learning-based approach by modelling semantically meaningful
object constellations as graphs and using Deep Graph Convolution Networks to
map a constellation to a descriptor. We demonstrate the effectiveness …


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