Neighborhood Consensus Guided Matching Based Place Recognition with Spatial-Channel Embedding

As a crucial part of mobile robotics and au- tonomous driving, Visual Place Recognition (VPR) is usually addressed by recognizing its similar reference images from a pre-obtained database. However, VPR always suffers from en- vironmental changes, such as weather, illumination, perceptual- aliasing and so on. To address this, we firstly introduce a robust and discriminative global descriptor aggregation technique that normalizes the spatial and channel dimensions of features. A Spatial-Channel Embedding (SCE) module is proposed to learn the spatial and scale information of features which make global features more discriminative. Meanwhile, the traditional re-ranking methods (e.g. RANSAC) for geometric consistency verification are time-consuming. Here we propose a Neighborhood Consensus Guided Matching (NCGM) module, which uses Neighborhood Consensus to filter the features from patch-level matching to achieve more accurate matching while reduces the time consumption. Through extensive experiments on multiple benchmarks, we demonstrate that our method outperforms several state-of-the-art methods while maintaining lower time consumption and storage requirements.