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.

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)

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 (hg.kim@inha.edu)

hogyun2/awesome-lidar-place-recognition