IFTD: 走行シーンにおけるループ検出のための画像特徴三角形記述子
IFTD: Image Feature Triangle Descriptor for Loop Detection in Driving Scenes
点群のBEV投影画像から特徴点を抽出し三角形記述子を構築することで、走行シーンでの場所認識を高精度かつ低計算コストで実現する手法を提案した。
著者: Fengtian Lang, Ruiye Ming, Zikang Yuan, Xin Yang
分類: cs.CV, cs.RO
原文アブストラクト
In this work, we propose a fast and robust Image Feature Triangle Descriptor (IFTD) based on the STD method, aimed at improving the efficiency and accuracy of place recognition in driving scenarios. We extract keypoints from BEV projection image of point cloud and construct these keypoints into triangle descriptors. By matching these feature triangles, we achieved precise place recognition and calculated the 4-DOF pose estimation between two keyframes. Furthermore, we employ image similarity inspection to perform the final place recognition. Experimental results on three public datasets demonstrate that our IFTD can achieve greater robustness and accuracy than state-of-the-art methods with low computational overhead.
