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PTC-Net: Point-Wise Transformer With Sparse Convolution Network for Place Recognition
Chen, Lineng1; Wang, Huan1; Kong, Hui2; Yang, Wankou3; Ren, Mingwu1
2023-04-17
Source PublicationIEEE Robotics and Automation Letters
ISSN2377-3766
Volume8Issue:6Pages:3414-3421
Abstract

In the point-cloud-based place recognition area, the existing hybrid architectures combining both convolutional networks and transformers have shown promising performance. They mainly apply the voxel-wise transformer after the sparse convolution (SPConv). However, they can induce information loss by the sparse voxelization and further result in loss propagation to the transformer, significantly degrading the performance of the network, especially in outdoor scenes with complex geometric structures and multiple small objects. To address this issue, we propose a novel Point-wise Transformer with sparse Convolution (PTC). Specifically, SPConv is applied to the sparsely voxelized point cloud to extract local features, which are then converted to the point-based representation via a feature transformation unit (FTU). As such, our PTC can apply a transformer model based on the point-wise representation rather than on the voxel-wise one. To enhance the ability to capture long-range features and reduce the computational complexity of the transformer, we propose a two-step transformer, each with different grouping strategies. Meanwhile, in both steps, the attention matrix is computed with much fewer points by grouping a single point cloud into different attention domains. The experiments show that the PTC-Net can achieve state-of-the-art (SOTA) performance, with an improvement of 3.6% on average recall@1. Furthermore, to demonstrate the effectiveness of the PTC, we introduce an extremely light-weight version, PTC-Net-L, with only one PTC layer and half initial channel dimensions, also achieving SOTA performance in terms of the average recall rate and running time with only 0.08 M parameters.

KeywordGlobal Descriptor Place Recognition Sparse Convolution Transformer
DOI10.1109/LRA.2023.3267693
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000979962100020
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141
Scopus ID2-s2.0-85153536762
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Citation statistics
Document TypeJournal article
CollectionFaculty of Science and Technology
THE STATE KEY LABORATORY OF INTERNET OF THINGS FOR SMART CITY (UNIVERSITY OF MACAU)
Corresponding AuthorRen, Mingwu
Affiliation1.Nanjing University of Science and Technology, School of Computer Science and Engineering, Nanjing, 210094, China
2.University of Macau, Faculty of Science and Technology, 999078, Macao
3.Southeast University, School of Automation, Nanjing, 211189, China
Recommended Citation
GB/T 7714
Chen, Lineng,Wang, Huan,Kong, Hui,et al. PTC-Net: Point-Wise Transformer With Sparse Convolution Network for Place Recognition[J]. IEEE Robotics and Automation Letters, 2023, 8(6), 3414-3421.
APA Chen, Lineng., Wang, Huan., Kong, Hui., Yang, Wankou., & Ren, Mingwu (2023). PTC-Net: Point-Wise Transformer With Sparse Convolution Network for Place Recognition. IEEE Robotics and Automation Letters, 8(6), 3414-3421.
MLA Chen, Lineng,et al."PTC-Net: Point-Wise Transformer With Sparse Convolution Network for Place Recognition".IEEE Robotics and Automation Letters 8.6(2023):3414-3421.
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