Global Point Cloud Descriptor for Place Recognition in Indoor Environments

Jacek Komorowski, Grzegorz Kurzejamski, Monika Wysoczańska, Tomasz Trzcinski

Abstract

This paper presents an approach for learning-based discriminative 3D point cloud descriptor from RGB-D images for place recognition purposes in indoor environments. Existing methods, such as such as PointNetVLAD, PCAN or LPD-Net, are aimed at outdoor environments and operate on 3D point clouds from LiDAR. They are based on PointNet architecture and designed to process only the scene geometry and do not consider appearance (RGB component). In this paper we present a place recognition method based on sparse volumetric representation and processing scene appearance in addition to the geometry. We also investigate if using two modalities, appearance (RGB data) and geometry (3D structure), improves discriminativity of a resultant global descriptor.

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Paper Citation


in Harvard Style

Komorowski J., Kurzejamski G., Wysoczańska M. and Trzcinski T. (2021). Global Point Cloud Descriptor for Place Recognition in Indoor Environments.In Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP, ISBN 978-989-758-488-6, pages 216-224. DOI: 10.5220/0010340502160224


in Bibtex Style

@conference{visapp21,
author={Jacek Komorowski and Grzegorz Kurzejamski and Monika Wysoczańska and Tomasz Trzcinski},
title={Global Point Cloud Descriptor for Place Recognition in Indoor Environments},
booktitle={Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP,},
year={2021},
pages={216-224},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010340502160224},
isbn={978-989-758-488-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP,
TI - Global Point Cloud Descriptor for Place Recognition in Indoor Environments
SN - 978-989-758-488-6
AU - Komorowski J.
AU - Kurzejamski G.
AU - Wysoczańska M.
AU - Trzcinski T.
PY - 2021
SP - 216
EP - 224
DO - 10.5220/0010340502160224