{"paper":{"title":"MinkUNeXt: Point Cloud-based Large-scale Place Recognition using 3D Sparse Convolutions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"A. Gil, A. Santo, C. Viegas, J.J. Cabrera, L. Pay\\'a","submitted_at":"2024-03-12T12:25:54Z","abstract_excerpt":"This paper presents MinkUNeXt, an effective and efficient architecture for place-recognition from point clouds entirely based on the new 3D MinkNeXt Block, a residual block composed of 3D sparse convolutions that follows the philosophy established by recent Transformers but purely using simple 3D convolutions. Feature extraction is performed at different scales by a U-Net encoder-decoder network and the feature aggregation of those features into a single descriptor is carried out by a Generalized Mean Pooling (GeM). The proposed architecture demonstrates that it is possible to surpass the curr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.07593","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2403.07593/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}