Local Descriptor for Robust Place Recognition Using LiDAR Intensity

A novel Local feature descriptor using the Mercator projection for 3D object recognition

Point cloud processing is a rapidly growing research area of computer vision. Introducing of cheap range sensors has made a great interest in the point cloud processing and 3D object recognition. 3D object recognition methods can be divided into two categories: global and local feature-based methods. Global features describe the entire model shape whereas local features encode the neighborhood ...

Robust Place Recognition using Local Appearance Based Methods

We present an approach to the automatic recognition of locations or landmarks using single camera images. Our approach is to learn visual features in the appearance domain that can be used to characterize an object or a location. These features are de ned statistically and then are recognized using principal components in the frequency domain. We show that this technique can be used to recogniz...

Place Recognition Using Keypoint Similarities in 2D Lidar Maps

Real-Time Lidar-Based Place Recognition Using Distinctive Shape Descriptors

A key component in the emerging localization and mapping paradigm is an appearance-based place recognition algorithm that detects when a place has been revisited. This algorithm can run in the background at a low frame rate and be used to signal a global geometric mapping algorithm when a loop is detected. An optimization technique can then be used to correct the map by ‘closing the loop’. This...

Robust Degraded Face Recognition Using Enhanced Local Frequency Descriptor and Multi-scale Competition

Recognizing degraded faces from low resolution and blurred images are common yet challenging task. Local Frequency Descriptor (LFD) has been proved to be effective for this task yet it is extracted from a spatial neighborhood of a pixel of a frequency plane independently regardless of correlations between frequencies. In addition, it uses a fixed window size named single scale of short-term Fre...