3D Place Recognition
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Benchmarks
Most implemented
LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis
RE-TRIP : Reflectivity Instance Augmented Triangle Descriptor for 3D Place Recognition
Place Recognition: A Comprehensive Review, Current Challenges and Future Directions
Papers
PROBE: Probabilistic Occupancy BEV Encoding with Analytical Translation Robustness for 3D Place Recognition
We present PROBE (PRobabilistic Occupancy BEV Encoding), a learning-free LiDAR place recognition descriptor that models each BEV cell's occupancy as a Bernoulli random variable. Rather than relying on discrete point-clou…
3D Place RecognitionCross-Modal Geometric Hierarchy Fusion: An Implicit-Submap Driven Framework for Resilient 3D Place Recognition
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (…
3D Place RecognitionAutonomous DrivingRE-TRIP : Reflectivity Instance Augmented Triangle Descriptor for 3D Place Recognition
While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures additional data, including reflectivity or…
3D Place RecognitionInstance SegmentationSemantic SegmentationPlace Recognition: A Comprehensive Review, Current Challenges and Future Directions
Place recognition is a cornerstone of vehicle navigation and mapping, which is pivotal in enabling systems to determine whether a location has been previously visited. This capability is critical for tasks such as loop c…
3D Place RecognitionCross-modal place recognitionSimultaneous Localization and MappingVisual Place RecognitionHOTFormerLoc: Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Views
We present HOTFormerLoc, a novel and versatile Hierarchical Octree-based TransFormer, for large-scale 3D place recognition in both ground-to-ground and ground-to-aerial scenarios across urban and forest environments. We …
3D Place RecognitionRepresentation LearningForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images
Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest…
3D Place RecognitionLoop Closure Detection