{"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/cscpr-cross-source-context-indoor-rgb-d-place","title":"CSCPR: Cross-Source-Context Indoor RGB-D Place Recognition","arxiv_id":"2407.17457","date":"2024-07-24","proceeding":null,"authors":["Jing Liang","Zhuo Deng","Zheming Zhou","Min Sun","Omid Ghasemalizadeh","Cheng-Hao Kuo","Arnie Sen","Dinesh Manocha"],"abstract":"We extend our previous work, PoCo, and present a new algorithm, Cross-Source-Context Place Recognition (CSCPR), for RGB-D indoor place recognition that integrates global retrieval and reranking into an end-to-end model and keeps the consistency of using Context-of-Clusters (CoCs) for feature processing. Unlike prior approaches that primarily focus on the RGB domain for place recognition reranking, CSCPR is designed to handle the RGB-D data. We apply the CoCs to handle cross-sourced and cross-scaled RGB-D point clouds and introduce two novel modules for reranking: the Self-Context Cluster (SCC) and the Cross Source Context Cluster (CSCC), which enhance feature representation and match query-database pairs based on local features, respectively. We also release two new datasets, ScanNetIPR and ARKitIPR. Our experiments demonstrate that CSCPR significantly outperforms state-of-the-art models on these datasets by at least 29.27% in Recall@1 on the ScanNet-PR dataset and 43.24% in the new datasets. Code and datasets will be released.","url_abs":"https://arxiv.org/abs/2407.17457v3","url_pdf":"https://arxiv.org/pdf/2407.17457v3.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":"cscpr-cross-source-context-indoor-rgb-d-place","repo_url":"https://github.com/jinggm/poco-ccr","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"reranking","task_name":"Reranking"},{"task_slug":"retrieval","task_name":"Retrieval"}],"methods":[{"method_slug":"focus","method_name":"Focus"}],"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}