Two-Step Relocalization Method for Laser Point Clouds Based on Semantic Graph and Semantic Scan Context

Method	00	02	05	06	07	08	Mean
SC	0.750	0.782	0.895	0.968	0.662	0.607	0.777
ISC	0.657	0.705	0.771	0.842	0.636	0.408	0.670
M2DP	0.708	0.717	0.602	0.787	0.560	0.073	0.575
PV	0.779	0.727	0541	0.852	0.631	0.037	0.595
ON	0.869	0.827	0.924	0.930	0.818	0.374	0.790
SGPR	0.820	0.751	0.751	0.655	0.868	0.750	0.766
Ours-SK	0.929	0.870	0.921	0.974	0.864	0.861	0.903
Ours-RN	0.941	0.872	0.939	0.973	0.869	0.925	0.920

Table 2. Maximum F₁ values on KITTI dataset when point clouds are randomly occluded with 30°

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Table 2. Maximum F₁ values on KITTI dataset when point clouds are randomly occluded with 30°

Method	00	02	05	06	07	08	Mean	Cmp
M2DP	0.123	0.064	0.154	0.560	0.248	0.006	0.193	-0.381
SC	0.729	0.771	0.865	0.966	0.590	0.517	0.783	-0.038
SGPR	0.795	0.709	0.716	0.643	0.812	0.717	0.732	-0.033
Ours-SK	0.927	0.832	0.883	0.941	0.816	0.827	0.871	-0.032
Ours-RN	0.937	0.841	0.884	0.954	0.835	0.856	0.885	-0.035

Table 3. Maximum F₁ values on KITTI dataset when point clouds are randomly rotated around z-axis

View table

Table 3. Maximum F₁ values on KITTI dataset when point clouds are randomly rotated around z-axis

Method	00	02	05	06	07	08	Mean	Cmp
M2DP	0.297	0.280	0.245	0.559	0.289	0.252	0.320	-0.254
SC	0.750	0.783	0.894	0.968	0.676	0.609	0.780	+0.003
SGPR	0.819	0.750	0.748	0.650	0.861	0.746	0.762	-0.003
Ours-SK	0.942	0.857	0.927	0.989	0.941	0.809	0.910	+0.007
Ours-RN	0.950	0.860	0.949	0.990	0.945	0.814	0.918	-0.002

Table 4. Efficiency evaluation
View table
Table 4. Efficiency evaluation
Method Segmentation Description Retrieval ICP Total
Rough Exact Rough Exact
SC 235.325 28.415 263.740
ISC 3.094 0.800 3.894
SSC 2.563 0.066 2.126 4.755
Ours 83.333 50.041 2.563 0.071 0.066 2.126 138.200

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Xiaohong Huang, Yuhui Peng, Wei Huang. Two-Step Relocalization Method for Laser Point Clouds Based on Semantic Graph and Semantic Scan Context[J]. Laser & Optoelectronics Progress, 2024, 61(18): 1815002

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Paper Information

Category: Machine Vision

Received: Jan. 2, 2024

Accepted: Feb. 18, 2024

Published Online: Sep. 14, 2024

The Author Email: Yuhui Peng (pengyuhui@fzu.edu.cn)

DOI:10.3788/LOP240433

CSTR:32186.14.LOP240433

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Maximum F1 values on KITTI dataset

Table 1. Maximum F1 values on KITTI dataset

Table 2. Maximum F1 values on KITTI dataset when point clouds are randomly occluded with 30°

Table 2. Maximum F1 values on KITTI dataset when point clouds are randomly occluded with 30°

Table 3. Maximum F1 values on KITTI dataset when point clouds are randomly rotated around z-axis

Table 3. Maximum F1 values on KITTI dataset when point clouds are randomly rotated around z-axis

Table 4. Efficiency evaluation

Table 4. Efficiency evaluation

Table 1. Maximum F₁ values on KITTI dataset

Table 1. Maximum F₁ values on KITTI dataset

Table 2. Maximum F₁ values on KITTI dataset when point clouds are randomly occluded with 30°

Table 2. Maximum F₁ values on KITTI dataset when point clouds are randomly occluded with 30°

Table 3. Maximum F₁ values on KITTI dataset when point clouds are randomly rotated around z-axis

Table 3. Maximum F₁ values on KITTI dataset when point clouds are randomly rotated around z-axis