Point Cloud Retrieval
14 papers with code • 1 benchmarks • 0 datasets
This is largely due to the difficulty in extracting local feature descriptors from a point cloud that can subsequently be encoded into a global descriptor for the retrieval task.
Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments.
We generate the global descriptor by directly aggregating the learned local descriptors with an effective attention mechanism.
Thus, state-of-the-art methods enhance vanilla PointNet architecture by adding different mechanism to capture local contextual information, such as graph convolutional networks or using hand-crafted features.
We tackle the problem of place recognition from point cloud data and introduce a self-attention and orientation encoding network (SOE-Net) that fully explores the relationship between points and incorporates long-range context into point-wise local descriptors.
In order to obtain discriminative global descriptors, we construct a pyramid VLAD module to aggregate the multi-scale feature maps of point clouds into the global descriptors.
In this paper, we develop an efficient point cloud learning network (EPC-Net) to form a global descriptor for visual place recognition, which can obtain good performance and reduce computation memory and inference time.
NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation
Benefiting from the NDT representation and NDT-Transformer network, the learned global descriptors are enriched with both geometrical and contextual information.