Cross-modal Place Recognition in Image Databases using Event-based Sensors
Visual place recognition is an important problem towards global localization in many robotics tasks. One of the biggest challenges is that it may suffer from illumination or appearance changes in surrounding environments. Event cameras are interesting alternatives to frame-based sensors as their high dynamic range enables robust perception in difficult illumination conditions. However, current event-based place recognition methods only rely on event information, which restricts downstream applications of VPR. In this paper, we present the first cross-modal visual place recognition framework that is capable of retrieving regular images from a database given an event query. Our method demonstrates promising results with respect to the state-of-the-art frame-based and event-based methods on the Brisbane-Event-VPR dataset under different scenarios. We also verify the effectiveness of the combination of retrieval and classification, which can boost performance by a large margin.
Code (0)
등록된 구현이 없습니다.
Tasks
Cross-modal place recognitionRetrievalVisual Place RecognitionSimilar Papers 제목 키워드 기반
(LC)$^2$: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognition
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has bee…
Autonomous NavigationCross-modal place recognitionHeterogeneous Visible-Thermal and Visible-Infrared Face Recognition using Unit-Class Loss and Cross-Modality Discriminator
Visible-to-thermal face image matching is a challenging variate of cross-modality recognition. The challenge lies in the large modality gap and low correlation between visible and thermal modalities. Existing approaches …
Face RecognitionG2IA: Geometry-Guided Instance-Aware Retrieval and Refinement for Cross-Modal Place Recognition
Cross-modal place recognition (CMPR) enables camera-only robots to localize against pre-built LiDAR maps in autonomous navigation scenarios. This image-to-point-cloud setting is challenged by two coupled ambiguities: the…
UniLoc: Towards Universal Place Recognition Using Any Single Modality
To date, most place recognition methods focus on single-modality retrieval. While they perform well in specific environments, cross-modal methods offer greater flexibility by allowing seamless switching between map and q…
Contrastive LearningSemantic-Enhanced Cross-Modal Place Recognition for Robust Robot Localization
Ensuring accurate localization of robots in environments without GPS capability is a challenging task. Visual Place Recognition (VPR) techniques can potentially achieve this goal, but existing RGB-based methods are sensi…
Visual Place RecognitionContrastive LearningGeometric Matching