ModaLink

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.

Table of Contents

Dependencies

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