MinkUNeXt: Point Cloud-based Large-scale Place Recognition using 3D Sparse Convolutions

arXiv:2403.07593v2 Announce Type: replace
Abstract: This paper presents MinkUNeXt, an effective and efficient architecture for place-recognition from point clouds entirely based on the new 3D MinkNeXt Block, a residual block composed of 3D sparse convolutions that follows the philosophy established by recent Transformers but purely using simple 3D convolutions. Feature extraction is performed at different scales by a U-Net encoder-decoder network and the feature aggregation of those features into a single descriptor is carried out by a Generalized Mean Pooling …

abstract architecture arxiv block cloud cloud-based cs.cv feature paper philosophy recognition residual scale simple transformers type