论文标题
PIC-NET：大规模地点识别的点云和图像协作网络
PIC-Net: Point Cloud and Image Collaboration Network for Large-Scale Place Recognition
论文作者
论文摘要
Place recognition is one of the hot research fields in automation technology and is still an open issue, Camera and Lidar are two mainstream sensors used in this task, Camera-based methods are easily affected by illumination and season changes, LIDAR cannot get the rich data as the image could , In this paper, we propose the PIC-Net (Point cloud and Image Collaboration Network), which use attention mechanism to fuse the features of image and point cloud, and mine the complementary information between the two.此外，为了提高夜间的识别性能，我们将夜面图像转变为白天风格。比较结果表明，图像和点云的协作均优于基于图像的基于图像和点云的方法，注意力策略和昼夜转变可以进一步改善性能。
Place recognition is one of the hot research fields in automation technology and is still an open issue, Camera and Lidar are two mainstream sensors used in this task, Camera-based methods are easily affected by illumination and season changes, LIDAR cannot get the rich data as the image could , In this paper, we propose the PIC-Net (Point cloud and Image Collaboration Network), which use attention mechanism to fuse the features of image and point cloud, and mine the complementary information between the two. Furthermore, in order to improve the recognition performance at night, we transform the night image into the daytime style. Comparison results show that the collaboration of image and point cloud outperform both image-based and point cloud-based method, the attention strategy and day-night-transform could further improve the performance.
