Visual Place Recognition of Robots via Global Features of Scan-Context Descriptors with Dictionary-Based Coding

摘要

Self-localization is a crucial requirement for visual robot place recognition. Particularly, the 3D point cloud obtained from 3D laser rangefinders (LRF) is applied to it. The critical part is the efficiency and accuracy of place recognition of visual robots based on the 3D point cloud. The current solution is converting the 3D point clouds to 2D images, and then processing these with a convolutional neural network (CNN) classification. Although the popular scan-context descriptor obtained from the 3D data can retain parts of the 3D point cloud characteristics, its accuracy is slightly low. This is because the scan-context image under the adjacent label inclines to be confusing. This study reclassifies the image according to the CNN global features through image feature extraction. In addition, the dictionary-based coding is leveraged to construct the retrieval dataset. The experiment was conducted on the North-Campus-Long-Term (NCLT) dataset under four-seasons conditions. The results show that the proposed method is superior compared to the other methods without real-time Global Positioning System (GPS) information.