EDENet: 地中レーダーに基づく場所認識のためのエコー方向符号化ネットワーク
EDENet: Echo Direction Encoding Network for Place Recognition Based on Ground Penetrating Radar
地中レーダーのエコー系列と地下構造の幾何関係を利用し、学習可能なガボールフィルタと方向注意機構で大規模地図での場所認識を高精度・軽量に実現した。
著者: Pengyu Zhang, Xieyuanli Chen, Yuwei Chen, Beizhen Bi, Zhuo Xu, Tian Jin, Xiaotao Huang, Liang Shen
分類: cs.CV, cs.RO
原文アブストラクト
Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR may struggle. However, existing methods are primarily focused on small-scale place recognition (PR), leaving the challenges of PR in large-scale maps unaddressed. These challenges include the inherent sparsity of underground features and the variability in underground dielectric constants, which complicate robust localization. In this work, we investigate the geometric relationship between GPR echo sequences and underground scenes, leveraging the robustness of directional features to inform our network design. We introduce learnable Gabor filters for the precise extraction of directional responses, coupled with a direction-aware attention mechanism for effective geometric encoding. To further enhance performance, we incorporate a shift-invariant unit and a multi-scale aggregation strategy to better accommodate variations in di-electric constants. Experiments conducted on public datasets demonstrate that our proposed EDENet not only surpasses existing solutions in terms of PR performance but also offers advantages in model size and computational efficiency.
