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[IROS 2024] ModaLink

This repository contains the implementation of our IROS 2024 paper:

ModaLink: Unifying Modalities for Efficient Image-to-PointCloud Place Recognition

Weidong Xie, Lun Luo, Nanfei Ye, Yi Ren, Shaoyi Du, Minhang Wang, Jintao Xu, Rui Ai, Weihao Gu and Xieyuanli Chen

Link to the arXiv version of the paper is available.

The main contributions of this work are:

  • 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.

main

Citation

If you use our implementation in your academic work, please cite the corresponding paper:

@inproceedings{xie2024modalink,
	author   = {Weidong Xie and Lun Luo and Nanfei Ye and Yi Ren and Shaoyi Du and Minhang Wang and Jintao Xu and Rui Ai and Weihao Gu and Xieyuanli Chen},
	title    = {{ModaLink: Unifying Modalities for Efficient Image-to-PointCloud Place Recognition}},
	booktitle  = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year     = {2024},
}

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