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.
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}
}
- 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.
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SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM |
arXiv
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CrossLoc3D: Aerial-Ground Cross-Source 3D Place Recognition |
ICCV
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BTC: A Binary and Triangle Combined Descriptor for 3-D Place Recognition |
TRO
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A New Horizon: Employing Map Clustering Similarity for LiDAR-based Place Recognition |
TIV
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Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM |
TRO
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P-GAT: Pose-Graph Attentional Network for Lidar Place Recognition |
RAL
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Effectively Detecting Loop Closures using Point Cloud Density Maps |
ICRA
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OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition |
arXiv
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OSK: A Novel LiDAR Occupancy Set Key-Based Place Recognition Method in Urban Environment |
TIM
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SelFLoc: Selective feature fusion for large-scale point cloud-based place recognition |
KBS
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CVTNet: A Cross-View Transformer Network for LiDAR-Based Place Recognition in Autonomous Driving Environments |
TII
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Uncertainty-Aware Lidar Place Recognition in Novel Environments |
IROS
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CCL: Continual Contrastive Learning for LiDAR Place Recognition |
RAL
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BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition |
TRO
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CASSPR: Cross Attention Single Scan Place Recognition |
ICCV
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Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation |
ICRA
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BEVPlace: Learning LiDAR-based Place Recognition using Bird's Eye View Images |
ICCV
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Uncertainty-Aware Lidar Place Recognition in Novel Environments |
IROS
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TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition |
ITSC
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STD: Stable Triangle Descriptor for 3D place recognition |
ICRA
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Place Recognition of Large-Scale Unstructured Orchards With Attention Score Maps |
RAL
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VNI-Net: Vector Neurons-based Rotation-Invariant Descriptor for LiDAR Place Recognition |
arXiv
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A fast LiDAR place recognition and localization method by fusing local and global search |
ISPRSJ
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RING++: Roto-Translation Invariant Gram for Global Localization on a Sparse Scan Map |
TRO
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Place Recognition of Large-Scale Unstructured Orchards With Attention Score Maps |
RAL
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GeoAdapt: Self-Supervised Test-Time Adaptation in LiDAR Place Recognition Using Geometric Priors |
RAL
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ORCHNet: A Robust Global Feature Aggregation approach for 3D LiDAR-based Place recognition in Orchards |
arXiv
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OverlapNetVLAD: A Coarse-to-Fine Framework for LiDAR-based Place Recognition |
arXiv
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Binary Image Fingerprint: Stable Structure Identifier for 3D LiDAR Place Recognition
RAL
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SphereVLAD++: Attention-Based and Signal-Enhanced Viewpoint Invariant Descriptor |
RAL
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SVT-Net: Super Light-Weight Sparse Voxel Transformer for Large Scale Place Recognition |
AAAI
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BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR |
IROS
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RINet: Efficient 3D Lidar-Based Place Recognition Using Rotation Invariant Neural Network |
RAL
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Efficient 3D Point Cloud Feature Learning for Large-Scale Place Recognition |
TIP
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AttDLNet: Attention-Based Deep Network for 3D LiDAR Place Recognition |
ROBOT
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OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition |
RAL
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SeqOT: A Spatial–Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data |
TIE
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Simultaneous viewpoint-and condition-invariant loop closure detection based on LiDAR descriptor for outdoor large-scale environments |
TIE
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HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud |
ICRA
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LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition |
ICRA
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MinkLoc3D-SI: 3D LiDAR Place Recognition With Sparse Convolutions, Spherical Coordinates, and Intensity |
RAL
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Improving Point Cloud Based Place Recognition with Ranking-based Loss and Large Batch Training |
ICPR
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LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM |
TRO
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One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation: |
IROS
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Fresco: Frequency-domain scan context for lidar-based place recognition with translation and rotation invariance: |
ICARCV
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High Accuracy and Low Complexity Lidar Place Recognition Using Unitary Invariant Frobenius Norm: |
IEEE Sensors
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AdaFusion: Visual-LiDAR Fusion With Adaptive Weights for Place Recognition |
RAL
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InCloud: Incremental Learning for Point Cloud Place Recognition |
IROS
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A heterogeneous 3D map-based place recognition solution using virtual LiDAR and a polar grid height coding image descriptor |
ISPRSJ
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Dh3d: Deep hierarchical 3d descriptors for robust large-scale 6dof relocal- ization |
ECCV
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DSC: Deep Scan Context Descriptor for Large-Scale Place Recognition |
MFI
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Object Scan Context: Object-centric Spatial Descriptor for Place Recognition within 3D Point Cloud Map |
arXiv
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SC-LPR: Spatiotemporal context based LiDAR place recognition |
PRL
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Retriever: Point Cloud Retrieval in Compressed 3D Maps |
ICRA
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Place recognition and navigation of outdoor mobile robots based on random Forest learning with a 3D LiDAR
Journal of Intelligent & Robotic Systems
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NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation |
ICRA
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MinkLoc3D: Point Cloud Based Large-Scale Place Recognition |
WACV
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MinkLoc++: Lidar and Monocular Image Fusion for Place Recognition |
IJCNN
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EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale |
RAL
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TransLoc3D : Point Cloud based Large-scale Place Recognition using Adaptive Receptive Fields |
arXiv
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Pyramid Point Cloud Transformer for Large-Scale Place Recognition |
ICCV
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SSC: Semantic Scan Context for Large-Scale Place Recognition |
IROS
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A registration-aided domain adaptation network for 3d point cloud based place recognition |
IROS
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SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud Based Place Recognition |
CVPR
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Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments: |
TRO
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Weighted scan context: Global descriptor with sparse height feature for loop closure detection: |
ICCCR
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Season-Invariant and Viewpoint-Tolerant LiDAR Place Recognition in GPS-Denied Environments |
TIE
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Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems |
ICRA
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CORAL: Colored structural representation for bi-modal place recognition |
IROS
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OverlapNet: a siamese network for computing LiDAR scan similarity with applications to loop closing and localization |
Autonomous Robots
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On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM |
IROS
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PSE-Match: A Viewpoint-Free Place Recognition Method With Parallel Semantic Embedding |
TITS
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Voxel-Based Representation Learning for Place Recognition Based on 3D Point Clouds | IROS
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SpoxelNet: Spherical Voxel-based Deep Place Recognition for 3D Point Clouds of Crowded Indoor Spaces | IROS
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SRNet: A 3D Scene Recognition Network using Static Graph and Dense Semantic Fusion |
Computer Graphics Forum
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Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection: |
ICRA
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PIC-Net: Point Cloud and Image Collaboration Network for Large-Scale Place Recognition |
arXiv
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A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors |
IROS
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DAGC: Employing Dual Attention and Graph Convolution for Point Cloud based Place Recognition |
ICMR
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SegMap: Segment-based mapping and localization using data-driven descriptors |
IJRR
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Seed: A Segmentation-Based Egocentric 3D Point Cloud Descriptor for Loop Closure Detection |
IROS
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Learning an Overlap-based Observation Model for 3D LiDAR Localization |
IROS
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OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios |
IROS
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PCAN: 3D Attention Map Learning Using Contextual Information for Point Cloud Based Retrieval |
CVPR
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LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis |
ICCV
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Semantically Assisted Loop Closure in SLAM Using NDT Histograms |
IROS
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c-m2dp: A fast point cloud descriptor with color information to perform loop closure detection |
CASE
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1-Day Learning, 1-Year Localization: Long-Term LiDAR Localization Using Scan Context Image |
RAL
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SeqLPD: Sequence Matching Enhanced Loop-Closure Detection Based on Large-Scale Point Cloud Description for Self-Driving Vehicles |
IROS
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Scan Context: Egocentric Spatial Descriptor for Place Recognition Within 3D Point Cloud Map |
IROS
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PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition |
CVPR
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Delight: An Efficient Descriptor for Global Localisation Using LiDAR Intensities |
ICRA
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Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments |
IROS
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Stabilize an Unsupervised Feature Learning for LiDAR-based Place Recognition |
IROS
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SegMatch: Segment based place recognition in 3D point clouds |
ICRA
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Efficient 3D LIDAR based loop closing using deep neural network |
ROBIO
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Appearance-based loop detection from 3d laser data using the normal distributions transform |
ICRA
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Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform |
JFR
For any questions or errors, please contact me at [email protected].