Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made delightful achievements. However, how to deal with catastrophic collapse caused by rotation problems is still under-explored. In this paper, to tackle the issue, we propose a novel Point Cloud-based Rotation-aware Large Scale Place Recognition Network (RPR-Net). In particular, to solve the problem, we propose to learn rotation-invariant features in three steps. First, we design three kinds of novel Rotation-Invariant Features (RIFs), which are low-level features that can hold the rotation-invariant property. Second, using these RIFs, we design an attentive module to learn rotation-invariant kernels. Third, we apply these kernels to previous point cloud features to generate new features, which is the well-known SO(3) mapping process. By doing so, high-level scene-specific rotation-invariant features can be learned. We call the above process an Attentive Rotation-Invariant Convolution (ARIConv). To achieve the place recognition goal, we build RPR-Net, which takes ARIConv as a basic unit to construct a dense network architecture. Then, powerful global descriptors used for retrieval-based place recognition can be sufficiently extracted from RPR-Net. Experimental results on prevalent datasets show that our method achieves comparable results to existing state-of-the-art place recognition models and significantly outperforms other rotation-invariant baseline models when solving rotation problems.
翻译:以云为主的大比例位置辨识是许多应用程序的重要但具有挑战性的任务,例如同步网络本地化和映射(SLAM) 。 首先,我们设计了三种新颖的旋转 — 变换功能(RIFs),这是能保持旋转 — 变换属性的低级别特征。 其次,我们利用这些RIFs设计了一个关注模块来学习旋转 — 变换内核内核。第三,我们将这些内核应用到以前的点云特性中,这是众所周知的 SO(3) 绘图进程。这样,我们设计了三个步骤中的旋转 — 旋转 — 变换功能(RIFs) 。我们设计了三种新型的旋转 — 变换变换功能(RIFs), 它们是能保持旋转- 变换属性属性的低级别特征。 其次,我们用这些RIFS, 设计了一个关注的模块来学习旋转 — 变换内核大内核内核内核内核内核内核内核内核内核内核内核。 我们用了一个快速的系统内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内核内