Awesome LiDAR Place Recognition

Thumbnail Figures from Complex Urban, Wild-Places, and DiTer datasets / our place recognition method (TBD) / DiSCo-SLAM.

This repository is the collection of LiDAR Place Recognition Research that provides a code or a download page, together. This repository also reports the datasets for Place Recognition and various algorithms utilized in Place Recognition (e.g. multi-robot mapping, SLAM).

LiDAR Place Recognition can be broadly categorized into handcraft-based and learning-based methods.

Datasets for LiDAR Place Recognition are classified into single-session, multi-session, and multi-robot session. Additionally, it is possible to confirm which LiDAR was used and which vehicle was utilized (🚙 🤖 🛩️ 🚢).

Finally, various algorithms that play an important role in Place Recognition are introduced.

🔥 represents a paper citation count of 50 or more, or a code's star count of 50 or more.

Contents

• LiDAR Place Recognition Methods
• LiDAR Place Recognition Datasets
• LiDAR Place Recognition with Various Algorithms

News

24.08.18 Update 3 papers (BEVPlace++, RangePlace, NDTMC, SOLiD)

Previous

• 24.05.21 Merged awesome-lidar repository!

• 24.03.20 First pull request!

• 24.03.19 First commit!

LiDAR Place Recognition Methods

• 2024

  • Handcraft RAL Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition 🔥

    

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

    

  • Handcraft ICRA Effectively Detecting Loop Closures using Point Cloud Density Maps 🔥

    

  • Handcraft TRO BTC: A Binary and Triangle Combined Descriptor for 3D Place Recognition 🔥

    

  • Handcraft IROS NDT-Map-Code: A 3D global descriptor for real-time loop closure detection in lidar SLAM 🔥

    

  • Learning TIV RangePlace: A Hierarchical Range Image Transformer for LiDAR-Based Place Recognition

    

  • Learning TRO BEVPlace++: Fast, Robust, and Lightweight LiDAR Global Localization for Unmanned Ground Vehicles 🔥

    

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

    

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

    

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

    

  • Learning Arxiv OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition

    

• 2023

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

    

  • Handcraft ICRA STD: A Stable Triangle Descriptor for 3D place recognition 🔥

    

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

    

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

    

  • Learning IROS Uncertainty-Aware Lidar Place Recognition in Novel Environments 🔥

    

• 2022

  • Handcraft ICARCV Frequency-Domain Scan Context for Robust LiDAR-based Place Recognition with Translation and Rotation Invariance 🔥

    

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

    

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

    

  • Learning RAL/IROS OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition 🔥

    

  • Learning CVPR BVMatch: Lidar-based Place Recognition Using Bird's-eye View Images 🔥

    

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

    

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

    

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

    

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

    

  • Learning TIE SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data 🔥

    

  • Learning IROS D-LC-Nets: Robust Denoising and Loop Closing Networks for LiDAR SLAM in Complicated Circumstances with Noisy Point Clouds 🔥

    

• 2021

  • Handcraft ICRA Robust Place Recognition using an Imaging Lidar 🔥

    

  • Learning ICRA Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling 🔥

    

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

    

  • Learning RAL/ICRA Disco: Differentiable scan context with orientation 🔥

    

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

    

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

    

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

    

• 2020

  • Handcraft IROS LiDAR Iris for Loop-Closure Detection 🔥

    

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

    

  • Learning RSS OverlapNet: Loop Closing for LiDAR-based SLAM 🔥

    

  • Learning TITS 3D LiDAR-Based Global Localization Using Siamese Neural Network 🔥

    

  • Learning IROS Semantic Graph Based Place Recognition for 3D Point Clouds 🔥

    

• 2019

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

    

• 2018

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

    

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

    

• 2017

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

    

• 2016

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

    

• 2015

  • Handcraft IROS A Fast Histogram-Based Similarity Measure for Detecting Loop Closures in 3-D LIDAR Data 🔥

    

LiDAR Place Recognition Datasets

• 2024

  • Single/Multi CVPR OS1-128 OS1-64 Mid-70 MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception 🤖 🧔

    

  • Single/Multi IJRR OS2-128 VLP-16 Livox-Avia Aeva Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition 🚙

    

  • Single/Multi IEEE Sensors Letter OS1-64 OS1-32 DiTer: Diverse Terrain and Multi-Modal Dataset for Field Robot Navigation in Outdoor Environments 🤖

    

  • Multi RAL VLP-16 Livox-Avia BotanicGarden: A High-Quality Dataset for Robot Navigation in Unstructured Natural Environments 🤖

    

• 2023

  • Single/Multi ICRA VLP-16 Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments 🧔

    

  • Single/Multi ITSC Livox-Horizon NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mapping 🚙

    

  • Multi IROS-workshop Mid-70 ConPR: Ongoing Construction Site Dataset for Place Recognition 🧔

    

  • Multi IJRR VLP-128 Boreas: A Multi-Season Autonomous Driving Dataset 🚙

    

  • Multi ISVC VLP-16 Multimodal Dataset for Localization, Mapping and Crop Monitoring in Citrus Tree Farms 🤖

    

  • Multi RAL VLP-16 GRACO: A Multimodal Dataset for Ground and Aerial Cooperative Localization and Mapping 🛩️ 🤖

    

  • Multi IJRR OS1-64 OS1-32 Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters 🚢

    

  • Multi-Robot Arxiv VLP-16 S3E: A Large-scale Multimodal Dataset for Collaborative SLAM 🤖

    

  • Multi-Robot Arxiv VLP-16 Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned 🤖

    

• 2022

  • Single/Multi Arxiv VLP-16 ALITA: A Large-scale Incremental Dataset for Long-term Autonomy 🚙

    

  • Multi-Robot RAL VLP-16 DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization 🤖

    

• 2021

  • Single ICRA OS1-128 Robust Place Recognition using an Imaging Lidar 🧔

    

• 2020

  • Single/Multi ICRA OS1-64 Multimodal Range Dataset for Urban Place Recognition 🚙

    

  • Single/Multi ICRA HDL-32 The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset 🚙

    

  • Single/Multi IROS HDL-32 EU Long-term Dataset with Multiple Sensors for Autonomous Driving 🚙

    

• 2019

  • Single IJRR VLP-16 Complex urban dataset with multi-level sensors from highly diverse urban environments 🚙

    

• 2016

  • Multi IJRR HDL-32 University of Michigan North Campus long-term vision and lidar dataset 🤖

    

• 2013

  • Single IJRR HDL-64 Vision meets Robotics: The KITTI Dataset 🚙

    

LiDAR Place Recognition with Various Algorithms

• 2023

  • Multi-Robot SLAM TRO MR_SLAM with RING++: Roto-Translation-Invariant Gram for Global Localization on a Sparse Scan Map 🔥

    

  • Multi-Robot SLAM IEEE Sensors Journal DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm 🔥

    

  • SLAM Framework IEEE/ASME Transactions on Mechatronics DLC-SLAM: A Robust LiDAR-SLAM System With Learning-Based Denoising and Loop Closure 🔥

    

  • SLAM Framework ICRA Real-Time Simultaneous Localization and Mapping with LiDAR intensity 🔥

    

• 2022

  • Multi-Robot SLAM RAL DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization 🔥

    

  • Mapping Framework ICRA LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping 🔥

    

  • SLAM Framework ICEIC SC-LiDAR-SLAM: A Front-end Agnostic Versatile LiDAR SLAM System 🔥

    

Contact

• Hogyun Kim ([email protected])