Recent Place Recognition Research with HeRCULES

Place Recognition Evaluation (in HeRCULES paper)

• We use Scan Context for place recognition with both 4D LiDAR and 4D radar. Additionally, we evaluate crossmodal place recognition performance using radar queries on a LiDAR-based database. 

• The experiments utilize 01 sequences as the database and 02 sequences as the query set, with the results shown in Fig. 9. For the Sports Complex, a query is considered correct if the top result is within 10 m, indicating accurate recognition of a revisited location or rejection of false positives. 

• The ablation study conducted for the Library shows the results for thresholds of 10 m, 15 m, and 20 m in Fig. 10. The AUC scores for the place recognition evaluation are presented in Table. V. 

• These results highlight that 4D LiDAR achieves the highest place recognition performance, while cross-modal recognition between LiDAR and radar is the lowest. This suggests a need for further research in place recognition using heterogeneous sensors, for which HeRCULES offers valuable data.