{"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/coral-colored-structural-representation-for","title":"CORAL: Colored structural representation for bi-modal place recognition","arxiv_id":"2011.10934","date":"2020-11-22","proceeding":null,"authors":["Yiyuan Pan","Xuecheng Xu","Weijie Li","Yunxiang Cui","Yue Wang","Rong Xiong"],"abstract":"Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which can extract a compound global descriptor from the two modalities, vision and LiDAR. Specifically, we first build the elevation image generated from 3D points as a structural representation. Then, we derive the correspondences between 3D points and image pixels that are further used in merging the pixel-wise visual features into the elevation map grids. In this way, we fuse the structural features and visual features in the consistent bird-eye view frame, yielding a semantic representation, namely CORAL. And the whole network is called CORAL-VLAD. Comparisons on the Oxford RobotCar show that CORAL-VLAD has superior performance against other state-of-the-art methods. We also demonstrate that our network can be generalized to other scenes and sensor configurations on cross-city datasets.","url_abs":"https://arxiv.org/abs/2011.10934v2","url_pdf":"https://arxiv.org/pdf/2011.10934v2.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":[],"tasks":[{"task_slug":"visual-place-recognition","task_name":"Visual Place Recognition"}],"methods":[{"method_slug":"coral","method_name":"CORAL"}],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/visual-place-recognition-on-oxford-robotcar-1","task":"Visual Place Recognition","dataset":"Oxford RobotCar (LiDAR 4096 points+RGB)","model":"CORAL","rank_in_archive_order":2,"of":3,"metrics":{"recall@top1":"88.93","recall@top1%":"96.13"},"uses_additional_data":false}],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}