Reverse visiting detection performance in KITTI dataset 08 about imaging_lidar_place_recognition HOT 6 CLOSED

@kinggreat24
Unfortunately, I didn't get good results using the KITTI dataset. One thing that might improve the recall is to relieve some of the parameters, for example,

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@TixiaoShan
Hi, thanks for your help, I have tried your suggestion and it does work.

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In fact, this article turns the lidar data into a range image, and then uses the features to be extracted from the image to perform feature matching, loop closure detection, and relative transformation calculations. Therefore, I changed velodyne's lidar into range image and then used the author's method to test, so that different types of lidars can do the same thing. The difference lies in the sparseness of the lidar. The author also mentioned the sparseness Lidar, such as VLP-16, may not work well with this method.

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lidar

In fact, this article turns the lidar data into a range image, and then uses the features to be extracted from the image to perform feature matching, loop closure detection, and relative transformation calculations. Therefore, I changed velodyne's lidar into range image and then used the author's method to test, so that different types of lidars can do the same thing. The difference lies in the sparseness of the lidar. The author also mentioned the sparseness Lidar, such as VLP-16, may not work well with this method.

In factor, the author turn the lidar data into intensity image. So do you mean that you turn it to range image? And in kitti data, it lack many intensity data.

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Hi, @TixiaoShan Thanks for sharing your great work, I have test the method using KITTI dataset. The results show that reverse visiting detection performance is not well while the forward direction is pretty good, do you have any ideas about improving the reverse visiting recall?

Hi:
To run the code in KITTI dataset, how do I modify the code. Thanks a lot!!!!

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@kinggreat24
Hi:
To run the code in KITTI dataset, how do I modify the code. Thanks a lot!!!!

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