LGD: A fast place recognition method based on the fusion of local and global descriptors

Wuqi Wang, Haigen Min, Xia Wu, Long Yang, Changlei Yan, Yukun Fang, Xiangmo Zhao

Abstract: Highlights•A method based on the fusion of the local and global descriptors is proposed.•A coarse-to-fine hierarchical recognition strategy is designed.•The proposed method is loosely coupled with the SLAM framework.•A comprehensive evaluation is conducted on datasets of different scales.•It is shown that a good initial value can provide point cloud registration.