Accurate localization on autonomous driving cars is essential for autonomy and driving safety, especially for complex urban streets and search-and-rescue subterranean environments where high-accurate GPS is not available. However current odometry estimation may introduce the drifting problems in long-term navigation without robust global localization. The main challenges involve scene divergence under the interference of dynamic environments and effective perception of observation and object layout variance from different viewpoints. To tackle these challenges, we present PSE-Match, a viewpoint-free place recognition method based on parallel semantic analysis of isolated semantic attributes from 3D point-cloud models. Compared with the original point cloud, the observed variance of semantic attributes is smaller. PSE-Match incorporates a divergence place learning network to capture different semantic attributes parallelly through the spherical harmonics domain. Using both existing benchmark datasets and two in-field collected datasets, our experiments show that the proposed method achieves above 70% average recall with top one retrieval and above 95% average recall with top ten retrieval cases. And PSE-Match has also demonstrated an obvious generalization ability with a limited training dataset.
SPOT: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpoints
Department of Robotics, University of Michigan（机器人学系，密歇根大学）；Department of Robotics and the Department of Mechanical Engineering, University of Michigan（机器人学系和机械工程系，密歇根大学）
Look No Deeper: Recognizing Places from Opposing Viewpoints under Varying Scene Appearance using Single-View Depth Estimation
Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）；Queensland University of Technology (QUT)（昆士兰科技大学）；Monash University（莫纳什大学）；TATA Consultancy Services（塔塔咨询服务公司）
More Than Where You Are: Learning Semantics, Structure, and Geometry from Cross-View Localization
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Beijing Aerospace Control Center（北京航天飞行控制中心）
FreeVS: Generative View Synthesis on Free Driving Trajectory
School of Future Technology, University of Chinese Academy of Sciences (UCAS)（中国科学院大学未来技术学院）；Institute of Automation, Chinese Academy of Sciences (CASIA)（中国科学院自动化研究所）；Center for Artificial Intelligence and Robotics, HKISI, CAS（中国科学院香港智能科学中心人工智能与机器人中心）
ConvSequential-SLAM: A Sequence-based, Training-less Visual Place Recognition Technique for Changing Environments
University of Essex（埃塞克斯大学）；Queensland University of Technology（昆士兰科技大学）；School of Computer Science and Electronic Engineering, University of Essex（埃塞克斯大学计算机科学与电子工程学院）；School of Electrical Engineering and Computer Science, Queensland University of Technology（昆士兰科技大学电气与计算机工程学院）
SkyLink: Unifying Street-Satellite Geo-Localization via UAV-Mediated 3D Scene Alignment
Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University（多媒体可信感知与高效计算重点实验室，教育部，厦门大学）；School of Electronic and Information Engineering, Foshan University（电子与信息工程学院，佛山大学）
