ModaLink: Unifying Modalities for Efficient Image-to-PointCloud Place Recognition
- We propose a lightweight cross-modal place recognition method called ModaLink based on FoV transformation.
- We introduce a Non-Negative Matrix Factorization-based module to extract extra potential semantic features to improve the distinctiveness of descriptors.
- Extensive experimental results on the KITTI and a self-collected dataset show that our proposed method can achieve state-of-the-art performance while running in real-time of about 30Hz.
We use pytorch-gpu for neural networks. An Nvidia GPU is needed for faster retrieval.
To use a GPU, first, you need to install the Nvidia driver and CUDA.
- CUDA Installation guide: link