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LCD – Line Clustering and Description for Place Recognition
[article]
2020
arXiv
pre-print
Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is typically lost. In this paper, we introduce a novel learning-based approach to place recognition, using RGB-D cameras and line clusters as visual and geometric features. We state the place recognition problem as a problem of recognizing clusters of lines instead of
arXiv:2010.10867v1
fatcat:axamt2ufl5fstmmcwh7lmtqd44