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PIC-Net: Point Cloud and Image Collaboration Network for Large-Scale Place Recognition
Place recognition is one of the hot research fields in automation technology and is still an open issue, Camera and Lidar are two mainstream sensors used in this task, Camera-based methods are easily affected by illumination and season changes, LIDAR cannot get the rich data as the image could , In this paper, we propose the PIC-Net (Point cloud and Image Collaboration Network), which use attention mechanism to fuse the features of image and point cloud, and mine the complementary information between the two.
Ranked #2 on
Visual Place Recognition
on Oxford RobotCar (LiDAR 4096 points+RGB)
(recall@top1% metric)
