Unifying Local and Global Multimodal Features for Place Recognition in Aliased and Low-Texture Environments

Keyphrases

• Simultaneous Localization and Mapping 100%
• Place Recognition 100%
• Aliasing 100%
• Multimodal Features 100%
• Low-texture Environment 100%
• Localization System 50%
• Mapping System 50%
• Multimodality 50%
• LiDAR 50%
• Cross-attention 50%
• Re-ranking 50%
• Global Representation 50%
• Local Matching 50%
• Perceptual Aliasing 50%
• Analogous Environment 50%
• Attention Block 50%
• Weak Texture 50%

Computer Science

• Simultaneous localization and mapping 100%
• Texture Environment 100%
• local feature 50%
• Aliasing 50%
• Multimodality 50%