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Home Research Areas Visual SLAM DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization

DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization

Contact: Rui Wang, Prof. Daniel Cremers

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For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and description directly from raw 3D points. It integrates FlexConv and Squeeze-and-Excitation (SE) to assure that the learned local descriptor captures multi-level geometric information and channel-wise relations. For detecting 3D keypoints we predict the discriminativeness of the local descriptors in an unsupervised manner. We generate the global descriptor by directly aggregating the learned local descriptors with an effective attention mechanism. In this way, local and global 3D descriptors are inferred in one single forward pass. Experiments on various benchmarks demonstrate that our method achieves competitive results for both global point cloud retrieval and for local point cloud registration in comparison to state-of-the-art approaches. To validate the generalizability and robustness of our 3D keypoints, we demonstrate that our method also performs favorably without fine-tuning on registration of point clouds that were generated by a visual SLAM system.

Paper Summary

The video is with audio.

ECCV Spotlight Presentation

The video is with audio.


  • Paper: download, supplementary material: download
  • arXiv: link
  • Code: Will be online before the start of ECCV 2020.
  • Paper summary slides: download
  • ECCV spotlight presentation slides: download


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Conference and Workshop Papers
[]DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization (J. Du, R. Wang and D. Cremers), In European Conference on Computer Vision (ECCV), 2020. ([project page][supplementary][arxiv]) [bibtex] [pdf]Spotlight Presentation
[]Stereo DSO: Large-Scale Direct Sparse Visual Odometry with Stereo Cameras (R. Wang, M. Schwörer and D. Cremers), In International Conference on Computer Vision (ICCV), 2017. ([supplementary][video][arxiv][project]) [bibtex] [pdf]
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