InsCMPR: Efficient Cross-Modal Place Recognition via Instance-Aware Hybrid Mamba-Transformer

Abstract

Place recognition is an important technique for autonomous mobile robotic applications. While single-modal sensor-based approaches have shown satisfactory performance, cross-modal place recognition remains underexplored due to the challenge of bridging the cross-modal heterogeneity gap. In this work, we introduce an instance-aware cross-modal place recognition approach, named InsCMPR. We design a novel instance-aware modality alignment module, which aligns multi-modal data at both pixel-level and instance-level by leveraging a pre-trained vision foundation model SAM. Then a novel dual-branch hybrid Mamba-Transformer network is proposed to efficiently enhance the distinctiveness of the produced descriptors by integrating global features with local instance features. Experimental results on the KITTI, NCLT, and HAOMO datasets show that our proposed methods achieve state-of-the-art performance while operating in real time. We will open source the implementation of our method at: https://github.com/nubot-nudt/InsCMPR.