PoCo: Point Context Cluster for RGBD Indoor Place Recognition

arXiv:2404.02885v1 Announce Type: new
Abstract: We present a novel end-to-end algorithm (PoCo) for the indoor RGB-D place recognition task, aimed at identifying the most likely match for a given query frame within a reference database. The task presents inherent challenges attributed to the constrained field of view and limited range of perception sensors. We propose a new network architecture, which generalizes the recent Context of Clusters (CoCs) to extract global descriptors directly from the noisy point clouds through end-to-end learning. …

abstract algorithm arxiv challenges cluster context cs.cv database match novel query recognition reference rgb-d type view