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}
}

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

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ShiPC-AI / LPR-Survey