AI RESEARCH
SPOT: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints
arXiv CS.CV
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ArXi:2404.12339v2 Announce Type: replace-cross Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree rotations, has proven to be challenging to achieve. To address this problem, this paper presents Same Place Opposing Trajectory (SPOT), a technique for opposing viewpoint VPR that relies exclusively on structure estimated through stereo visual odometry (VO