{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/aegis-net-attention-guided-multi-level","title":"AEGIS-Net: Attention-guided Multi-Level Feature Aggregation for Indoor Place Recognition","arxiv_id":"2312.09538","date":"2023-12-15","proceeding":null,"authors":["Yuhang Ming","Jian Ma","Xingrui Yang","Weichen Dai","Yong Peng","Wanzeng Kong"],"abstract":"We present AEGIS-Net, a novel indoor place recognition model that takes in RGB point clouds and generates global place descriptors by aggregating lower-level color, geometry features and higher-level implicit semantic features. However, rather than simple feature concatenation, self-attention modules are employed to select the most important local features that best describe an indoor place. Our AEGIS-Net is made of a semantic encoder, a semantic decoder and an attention-guided feature embedding. The model is trained in a 2-stage process with the first stage focusing on an auxiliary semantic segmentation task and the second one on the place recognition task. We evaluate our AEGIS-Net on the ScanNetPR dataset and compare its performance with a pre-deep-learning feature-based method and five state-of-the-art deep-learning-based methods. Our AEGIS-Net achieves exceptional performance and outperforms all six methods.","url_abs":"https://arxiv.org/abs/2312.09538v1","url_pdf":"https://arxiv.org/pdf/2312.09538v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"aegis-net-attention-guided-multi-level","repo_url":"https://github.com/yuhangming/aegis-net","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"decoder","task_name":"Decoder"},{"task_slug":"deep-learning","task_name":"Deep Learning"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}