Shuffle Attention-based CNN Network for Visual Place Recognition

Shuffle Attention-based CNN Network for Visual Place Recognition | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Shuffle Attention-based CNN Network for Visual Place Recognition MINYING YE, Yongze JIN, Yu LIU, Anqi SHANGGUAN This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3967213/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Robot visual place recognition is a research hotspot, and robot place recognition systems based on 3D point clouds are even more focused. In recent years, scan-context descriptor imagery has become a standard method for 3D point cloud positioning. Based on its system characteristics, we integrated it with the Shuffle Attention (SA) mechanism module to improve its system performance. And we tested it on the public database NCLT dataset (North Campus Long-Term Vision dataset), and our method has good place recognition results. visual place recognition scan-context descriptor Shuffe Attention Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3967213","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":273646659,"identity":"a1a60293-fae4-4fa5-9d9b-be1dd7863b45","order_by":0,"name":"MINYING YE","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABAUlEQVRIiWNgGAWjYLCCDxU2PPxglg2DAQMzmMWGVwfjjDNpcpINIGYakVqYedsOGxscgGkhBAxuZKdu4GFLS9x8fgGbBEMCUO9xBsYPPxj48nBryd12Q4LHJnHbjQdgLWYGhxmYJXsY2IrxajGQSANqOcAm/ffHYRugFgZpoF8SG/BpSTA4nLh5xgGwLSAtzL8JajkA8gJ/A9xhbHhtkTzzdtvNhgNpchI3GJstGBLSjSUPM7ZZ9hjg9gvf8dxtt//+A0Zl/+GDNxgSrA37zh8+fONHxTGcIaZwIQHKkoC7hBHIMDiWgE05CMj3H4Cy+A+gSNTg1DIKRsEoGAUjDgAAkHddUwVXKSwAAAAASUVORK5CYII=","orcid":"","institution":"University of Fukui","correspondingAuthor":true,"prefix":"","firstName":"MINYING","middleName":"","lastName":"YE","suffix":""},{"id":273646660,"identity":"aaee0ceb-5cce-4c0e-96ae-b84a1fd683b3","order_by":1,"name":"Yongze JIN","email":"","orcid":"","institution":"Xi'an University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Yongze","middleName":"","lastName":"JIN","suffix":""},{"id":273646661,"identity":"5046a243-fb4c-417b-8236-9dfc9b296cbb","order_by":2,"name":"Yu LIU","email":"","orcid":"","institution":"Xi'an University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Yu","middleName":"","lastName":"LIU","suffix":""},{"id":273646662,"identity":"6b5666da-d9e5-49b8-b59b-fc44a76b8d1e","order_by":3,"name":"Anqi SHANGGUAN","email":"","orcid":"","institution":"Xi'an University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Anqi","middleName":"","lastName":"SHANGGUAN","suffix":""}],"badges":[],"createdAt":"2024-02-18 14:35:46","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3967213/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3967213/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":51824673,"identity":"6c6fc61f-c751-4abc-9ede-db2de06c1979","added_by":"auto","created_at":"2024-02-29 16:40:03","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":559468,"visible":true,"origin":"","legend":"","description":"","filename":"snarticle.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3967213/v1_covered_a2b16f46-7d3e-4429-bac1-36ae25a4e263.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Shuffle Attention-based CNN Network for Visual Place Recognition","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"visual place recognition, scan-context descriptor, Shuffe Attention","lastPublishedDoi":"10.21203/rs.3.rs-3967213/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3967213/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"Robot visual place recognition is a research hotspot, and robot place recognition systems based on 3D point clouds are even more focused. 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