GSPR

This is the official implementation for our paper:

GSPR: Multimodal Place Recognition using 3D Gaussian Splatting for Autonomous Driving

Zhangshuo Qi^†, Junyi Ma^†, Jingyi Xu, Zijie Zhou, Luqi Cheng, Guangming Xiong^*

GSPR is a novel multimodal place recognition network based on 3D Gaussian Splatting. It harmonizes multi-view camera and LiDAR data into a unified explicit scene representation through the proposed Multimodal Gaussian Splatting, and extracts spatio-temporally discriminative global descriptors for query-database matching.

@article{qi2024gspr,
  title={GSPR: Multimodal Place Recognition using 3D Gaussian Splatting for Autonomous Driving},
  author={Qi, Zhangshuo and Ma, Junyi and Xu, Jingyi and Zhou, Zijie and Cheng, Luqi and Xiong, Guangming},
  journal={arXiv preprint arXiv:2410.00299},
  year={2024}
}

We will release the code and relevant data upon the acceptance of our paper.