VXP: Voxel-Cross-Pixel Large-scale Image-LiDAR Place Recognition

arXiv:2403.14594v1 Announce Type: new
Abstract: Recent works on the global place recognition treat the task as a retrieval problem, where an off-the-shelf global descriptor is commonly designed in image-based and LiDAR-based modalities. However, it is non-trivial to perform accurate image-LiDAR global place recognition since extracting consistent and robust global descriptors from different domains (2D images and 3D point clouds) is challenging. To address this issue, we propose a novel Voxel-Cross-Pixel (VXP) approach, which establishes voxel and pixel correspondences in a …

abstract arxiv consistent cs.cv cs.ro domains global however image lidar pixel recognition retrieval robust scale type voxel