レーダーからLiDARへ：統合学習による異種センサ間の場所認識
Radar-to-Lidar: Heterogeneous Place Recognition via Joint Learning
レーダーのスキャンから既存のLiDAR地図を検索する異種センサ間の場所認識フレームワークを提案し、レーダーとLiDARの共有埋め込みを学習することで、1回の学習でLiDAR同士・レーダー同士・レーダーからLiDARへの認識を実現した。
著者: Huan Yin, Xuecheng Xu, Yue Wang, Rong Xiong
分類: cs.CV, cs.RO
原文アブストラクト
Place recognition is critical for both offline mapping and online localization. However, current single-sensor based place recognition still remains challenging in adverse conditions. In this paper, a heterogeneous measurements based framework is proposed for long-term place recognition, which retrieves the query radar scans from the existing lidar maps. To achieve this, a deep neural network is built with joint training in the learning stage, and then in the testing stage, shared embeddings of radar and lidar are extracted for heterogeneous place recognition. To validate the effectiveness of the proposed method, we conduct tests and generalization experiments on the multi-session public datasets compared to other competitive methods. The experimental results indicate that our model is able to perform multiple place recognitions: lidar-to-lidar, radar-to-radar and radar-to-lidar, while the learned model is trained only once. We also release the source code publicly: https://github.com/ZJUYH/radar-to-lidar-place-recognition.
