README.md

LiDAR-based Place Recognition For Autonomous Driving: A Survey

This repository provides a comprehensive review of LiDAR-based place recognition (LPR) methods. Each method includes the paper's name, code repository (if available), and a link to the paper.

Citation

If you think this work is useful for your research, please consider citing our paper:

@article{zhang2023lidar,
  title={Lidar-based place recognition for autonomous driving: A survey},
  author={Zhang, Yongjun and Shi, Pengcheng and Li, Jiayuan},
  journal={arXiv preprint arXiv:2306.10561},
  year={2023}
}

Top 3 Highly Cited Articles (Google Scholar citations as of July 2024)

• G. Kim and A. Kim. Scan Context: Egocentric Spatial Descriptor for Place Recognition Within 3D Point Cloud Map, 2018 IROS.
• M. A. Uy and G. H. Lee. PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition, 2018 CVPR.
• R. Dubé, D. Dugas, E. Stumm, J. Nieto, R. Siegwart and C. Cadena. SegMatch: Segment based place recognition in 3D point clouds, 2017 ICRA.

Methods Organized by Year

2024

• SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM | arXiv

• CrossLoc3D: Aerial-Ground Cross-Source 3D Place Recognition | ICCV

• BTC: A Binary and Triangle Combined Descriptor for 3-D Place Recognition | TRO

• A New Horizon: Employing Map Clustering Similarity for LiDAR-based Place Recognition | TIV

• Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM | TRO

• P-GAT: Pose-Graph Attentional Network for Lidar Place Recognition | RAL

• Effectively Detecting Loop Closures using Point Cloud Density Maps | ICRA

• OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition | arXiv

• OSK: A Novel LiDAR Occupancy Set Key-Based Place Recognition Method in Urban Environment | TIM

• SelFLoc: Selective feature fusion for large-scale point cloud-based place recognition | KBS

• CVTNet: A Cross-View Transformer Network for LiDAR-Based Place Recognition in Autonomous Driving Environments | TII

• Uncertainty-Aware Lidar Place Recognition in Novel Environments | IROS

2023

• CCL: Continual Contrastive Learning for LiDAR Place Recognition | RAL

• BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition | TRO

• CASSPR: Cross Attention Single Scan Place Recognition | ICCV

• Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation | ICRA

• BEVPlace: Learning LiDAR-based Place Recognition using Bird's Eye View Images | ICCV

• Uncertainty-Aware Lidar Place Recognition in Novel Environments | IROS

• TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition | ITSC

• STD: Stable Triangle Descriptor for 3D place recognition | ICRA

• Place Recognition of Large-Scale Unstructured Orchards With Attention Score Maps | RAL

• VNI-Net: Vector Neurons-based Rotation-Invariant Descriptor for LiDAR Place Recognition | arXiv

• A fast LiDAR place recognition and localization method by fusing local and global search | ISPRSJ

• RING++: Roto-Translation Invariant Gram for Global Localization on a Sparse Scan Map | TRO

• Place Recognition of Large-Scale Unstructured Orchards With Attention Score Maps | RAL

• GeoAdapt: Self-Supervised Test-Time Adaptation in LiDAR Place Recognition Using Geometric Priors | RAL

• ORCHNet: A Robust Global Feature Aggregation approach for 3D LiDAR-based Place recognition in Orchards | arXiv

• OverlapNetVLAD: A Coarse-to-Fine Framework for LiDAR-based Place Recognition | arXiv

• Binary Image Fingerprint: Stable Structure Identifier for 3D LiDAR Place Recognition RAL

• Spherical Transformer for LiDAR-Based 3D Recognition | CVPR

2022

• SphereVLAD++: Attention-Based and Signal-Enhanced Viewpoint Invariant Descriptor | RAL

• SVT-Net: Super Light-Weight Sparse Voxel Transformer for Large Scale Place Recognition | AAAI

• BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR | IROS

• RINet: Efficient 3D Lidar-Based Place Recognition Using Rotation Invariant Neural Network | RAL

• Efficient 3D Point Cloud Feature Learning for Large-Scale Place Recognition | TIP

• AttDLNet: Attention-Based Deep Network for 3D LiDAR Place Recognition | ROBOT

• OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition | RAL

• SeqOT: A Spatial–Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data | TIE

• Simultaneous viewpoint-and condition-invariant loop closure detection based on LiDAR descriptor for outdoor large-scale environments | TIE

• HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud | ICRA

• LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition | ICRA

• MinkLoc3D-SI: 3D LiDAR Place Recognition With Sparse Convolutions, Spherical Coordinates, and Intensity | RAL

• Improving Point Cloud Based Place Recognition with Ranking-based Loss and Large Batch Training | ICPR

• LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM | TRO

• One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation: | IROS

• Fresco: Frequency-domain scan context for lidar-based place recognition with translation and rotation invariance: | ICARCV

• High Accuracy and Low Complexity Lidar Place Recognition Using Unitary Invariant Frobenius Norm: | IEEE Sensors

• AdaFusion: Visual-LiDAR Fusion With Adaptive Weights for Place Recognition | RAL

• InCloud: Incremental Learning for Point Cloud Place Recognition | IROS

• A heterogeneous 3D map-based place recognition solution using virtual LiDAR and a polar grid height coding image descriptor | ISPRSJ

• Dh3d: Deep hierarchical 3d descriptors for robust large-scale 6dof relocal- ization | ECCV

• DSC: Deep Scan Context Descriptor for Large-Scale Place Recognition | MFI

• Object Scan Context: Object-centric Spatial Descriptor for Place Recognition within 3D Point Cloud Map | arXiv

• SC-LPR: Spatiotemporal context based LiDAR place recognition | PRL

• Retriever: Point Cloud Retrieval in Compressed 3D Maps | ICRA

• Place recognition and navigation of outdoor mobile robots based on random Forest learning with a 3D LiDAR Journal of Intelligent & Robotic Systems

2021

• NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation |ICRA

• MinkLoc3D: Point Cloud Based Large-Scale Place Recognition |WACV

• MinkLoc++: Lidar and Monocular Image Fusion for Place Recognition | IJCNN

• EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale | RAL

• TransLoc3D : Point Cloud based Large-scale Place Recognition using Adaptive Receptive Fields | arXiv

• Pyramid Point Cloud Transformer for Large-Scale Place Recognition | ICCV

• SSC: Semantic Scan Context for Large-Scale Place Recognition | IROS

• A registration-aided domain adaptation network for 3d point cloud based place recognition | IROS

• SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud Based Place Recognition | CVPR

• Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments: | TRO

• Weighted scan context: Global descriptor with sparse height feature for loop closure detection: | ICCCR

• Season-Invariant and Viewpoint-Tolerant LiDAR Place Recognition in GPS-Denied Environments | TIE

• Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems | ICRA

• DiSCO: Differentiable Scan Context With Orientation | RAL

• CORAL: Colored structural representation for bi-modal place recognition | IROS

• OverlapNet: a siamese network for computing LiDAR scan similarity with applications to loop closing and localization | Autonomous Robots

• On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM | IROS

• PSE-Match: A Viewpoint-Free Place Recognition Method With Parallel Semantic Embedding | TITS

2020

• Voxel-Based Representation Learning for Place Recognition Based on 3D Point Clouds | IROS

• SpoxelNet: Spherical Voxel-based Deep Place Recognition for 3D Point Clouds of Crowded Indoor Spaces | IROS

• SRNet: A 3D Scene Recognition Network using Static Graph and Dense Semantic Fusion | Computer Graphics Forum

• LiDAR Iris for Loop-Closure Detection: | IROS

• Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection: | ICRA

• PIC-Net: Point Cloud and Image Collaboration Network for Large-Scale Place Recognition | arXiv

• A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors | IROS

• DAGC: Employing Dual Attention and Graph Convolution for Point Cloud based Place Recognition | ICMR

• SegMap: Segment-based mapping and localization using data-driven descriptors | IJRR

• Seed: A Segmentation-Based Egocentric 3D Point Cloud Descriptor for Loop Closure Detection | IROS

• Learning an Overlap-based Observation Model for 3D LiDAR Localization |IROS

• LiPMatch: LiDAR Point Cloud Plane Based Loop-Closure |RAL

2019

• OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios | IROS

• PCAN: 3D Attention Map Learning Using Contextual Information for Point Cloud Based Retrieval | CVPR

• LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis | ICCV

• Semantically Assisted Loop Closure in SLAM Using NDT Histograms | IROS

• c-m2dp: A fast point cloud descriptor with color information to perform loop closure detection | CASE

• 1-Day Learning, 1-Year Localization: Long-Term LiDAR Localization Using Scan Context Image | RAL

• SeqLPD: Sequence Matching Enhanced Loop-Closure Detection Based on Large-Scale Point Cloud Description for Self-Driving Vehicles | IROS

• Loop Closure Detection in Closed Environments | ECMR

2018

• Scan Context: Egocentric Spatial Descriptor for Place Recognition Within 3D Point Cloud Map | IROS

• PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition | CVPR

• Delight: An Efficient Descriptor for Global Localisation Using LiDAR Intensities | ICRA

• Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments | IROS

• Stabilize an Unsupervised Feature Learning for LiDAR-based Place Recognition | IROS

2017

• SegMatch: Segment based place recognition in 3D point clouds | ICRA

• Efficient 3D LIDAR based loop closing using deep neural network | ROBIO

2016

• M2DP: A novel 3D point cloud descriptor and its application in loop closure detection | IROS

2015

• A fast histogram-based similarity measure for detecting loop closures in 3-D LIDAR data | IROS

2011

• Loop closure detection using small-sized signatures from 3D LIDAR data | SSRR

2010

• Learning to close the loop from 3D point clouds | IROS

2009

• Appearance-based loop detection from 3d laser data using the normal distributions transform | ICRA

• Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform | JFR

Contact

For any questions or errors, please contact me at [email protected].