@article{opalvisibilityawarelidartoopenstreetmap,
  title = {OPAL: Visibility-aware LiDAR-to-OpenStreetMap Place Recognition via Adaptive Radial Fusion},
  author = {Shuhao Kang and Martin Y. Liao and Yan Xia and Olaf Wysocki and Boris Jutzi and Daniel Cremers},
  year = {2025},
  eprint = {2504.19258},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.19258v2},
}