Title:
A METHOD FOR PLACE RECOGNITION ON 3D POINT CLOUD
Document Type and Number:
WIPO Patent Application WO/2024/041585
Kind Code:
A1
Abstract:
The subject invention pertains to place recognition on 3D point clouds and the problem of detecting if two 3D point clouds, for instance as measured by range sensors, are measured for the same scene. It is a fundamental problem and the backbone of a variety of existing and emerging applications, such as drone navigation, autonomous driving, augmented/virtual reality, and 3D surveying and mapping. This invention provides effective systems and methods to achieve robust, accurate, and data efficient place recognition on a 3D point cloud. Experiments show that this method surpasses related art methods in terms of recall rate, accuracy, and adaptability to both scene types and sensor types. The invention provides systems and methods to extract key points and their local descriptors, as well as to extract global descriptors of a point cloud and to perform place recognition using the extracted global descriptors.
Inventors:
ZHANG FU (CN)
YUAN CHONGJIAN (CN)
YUAN CHONGJIAN (CN)
Application Number:
PCT/CN2023/114553
Publication Date:
February 29, 2024
Filing Date:
August 24, 2023
Export Citation:
Assignee:
UNIV HONG KONG (CN)
International Classes:
G06T7/70
Foreign References:
| CN111340889A | 2020-06-26 | |||
| CN113160328A | 2021-07-23 | |||
| US20210124901A1 | 2021-04-29 |
Attorney, Agent or Firm:
LIU , SHEN & ASSOCIATES (CN)
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