A two-level framework for place recognition with 3D LiDAR based on spatial relation graph

作者：

Highlights：

• The framework pays attention to the spatial relations in certain places.

• A graph-based representation is presented to describe the environment.

• Two models are fused for graph matching to perform place recognition.

• Experimental evaluation to show greater precision, recall and viewpoint robustness.

摘要

•The framework pays attention to the spatial relations in certain places.•A graph-based representation is presented to describe the environment.•Two models are fused for graph matching to perform place recognition.•Experimental evaluation to show greater precision, recall and viewpoint robustness.

论文关键词：Place recognition,3D LiDAR,Spatial relation graph,Two-level framework

论文评审过程：Received 26 December 2020, Revised 15 May 2021, Accepted 6 July 2021, Available online 15 July 2021, Version of Record 21 July 2021.

论文官网地址：https://doi.org/10.1016/j.patcog.2021.108171