Unifying Local and Global Multimodal Features for Place Recognition in Aliased and Low-Texture Environments

arXiv:2403.13395v1 Announce Type: new
Abstract: Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing for Unifying Local and Global Multimodal Features) that 1) leverages multi-modality by cross-attention blocks between vision and LiDAR features, and 2) includes a re-ranking stage that re-orders based on local feature matching the top-k candidates retrieved using a global representation. Our experiments, …

arxiv cs.cv cs.ro environments features global low multimodal recognition texture type