LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition

Retrieval-based place recognition is an efficient and effective solution for enabling re-localization within a prebuilt map or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily dependant on the quality of the extracted scenelevel representation. While end-to-end solutions, which learn a global descriptor from input point clouds, have demonstrated promising results, such approaches are limited in their ability to enforce desirable properties at the local feature level. In this paper, we demonstrate that the inclusion of an additional training signal (local consistency loss) can guide the network to learning local features which are consistent across revisits, hence leading to more repeatable global descriptors resulting in an overall improvement in place recognition performance. We formulate our approach in an end-to-end trainable architecture called LoGG3D-Net. Experiments on two large-scale public benchmarks (KITTI and MulRan) show that our method achieves mean F1max scores of 0.939 and 0.968 on KITTI and MulRan, respectively while operating in near real-time.