STD: Stable Triangle Descriptor for 3D place recognition

Chongjian Yuan1; Jiarong Lin1; Zuhao Zou1; Xiaoping Hong2; Fu Zhang1

10.1109/ICRA48891.2023.10160413

2023-05-29

IEEE International Conference on Robotics and Automation (ICRA)

1050-4729

2577-087X

979-8-3503-2366-5

2023 IEEE International Conference on Robotics and Automation (ICRA)

2023-May

1897-1903

29 May-2 June 2023

London, United Kingdom

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

In this work, we present a novel global descriptor termed stable triangle descriptor (STD) for 3D place recognition. For a triangle, its shape is uniquely determined by the length of the sides or included angles. Moreover, the shape of triangles is completely invariant to rigid transformations. Based on this property, we first design an algorithm to efficiently extract local key points from the 3D point cloud and encode these key points into triangular descriptors. Then, place recognition is achieved by matching the side lengths (and some other information) of the descriptors between point clouds. The point correspondence obtained from the descriptor matching pair can be further used in geometric verification, which greatly improves the accuracy of place recognition. In our experiments, we extensively compare our proposed system against other state-of-the-art systems (i.e., M2DP, Scan Context) on public datasets (i.e., KITTI, NCLT, and Complex-Urban) and our self-collected dataset (with a non-repetitive scanning solid-state LiDAR). All the quantitative results show that STD has stronger adaptability and a great improvement in precision over its counterparts. To share our findings and make contributions to the community, we open source our code on our GitHub:github.com/hku-mars/STD

Point cloud compression Three-dimensional displays Laser radar Codes Automation Shape Databases

其他

英语

EI ; CPCI-S

DJI[17206421]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:001036713001101

20233514633280

IEEE

1.Department of Mechanical Engineering, The University of Hong Kong, Hong Kong Special Administrative Region, People's Republic of China
2.School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, People's Republic of China

Chongjian Yuan,Jiarong Lin,Zuhao Zou,et al. STD: Stable Triangle Descriptor for 3D place recognition[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:1897-1903.