BVMatch: Lidar-Based Place Recognition Using Bird's-Eye View Images

• Published in: IEEE robotics and automation letters Vol. 6; no. 3; pp. 6076 - 6083
• Main Authors: Luo, Lun, Cao, Si-Yuan, Han, Bin, Shen, Hui-Liang, Li, Junwei
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.07.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Feature extraction; Gabor filters; Image recognition; Laser radar; Lidar; Localization; Object recognition; Pose estimation; range sensing; SLAM; Three-dimensional displays; Transforms

Recognizing places using Lidar in large-scale environments is challenging due to the sparse nature of point cloud data. In this letter we present BVMatch, a Lidar-based frame-to-frame place recognition framework, that is capable of estimating 2D relative poses. Based on the assumption that the groun...