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https://github.com/hogyun2/awesome-lidar-place-recognition
A curated list of Place Recognition methods, datasets, and various algorithms for LiDAR
https://github.com/hogyun2/awesome-lidar-place-recognition
List: awesome-lidar-place-recognition
awesome awesome-list datasets lidar place-recognition point-cloud robotics slam
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A curated list of Place Recognition methods, datasets, and various algorithms for LiDAR
- Host: GitHub
- URL: https://github.com/hogyun2/awesome-lidar-place-recognition
- Owner: hogyun2
- License: cc0-1.0
- Created: 2024-03-18T20:47:52.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2024-05-21T06:33:01.000Z (4 months ago)
- Last Synced: 2024-05-22T07:52:41.672Z (4 months ago)
- Topics: awesome, awesome-list, datasets, lidar, place-recognition, point-cloud, robotics, slam
- Homepage:
- Size: 863 KB
- Stars: 60
- Watchers: 7
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Contributing: contributing.md
- License: LICENSE
Awesome Lists containing this project
- ultimate-awesome - awesome-lidar-place-recognition - A curated list of Place Recognition methods, datasets, and various algorithms for LiDAR. (Other Lists / PowerShell Lists)
README
Awesome LiDAR Place Recognition
[](https://github.com/sindresorhus/awesome)
> 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 (đ đ¤ đŠī¸ đĸ).
Finally, **various algorithms** that play an important role in Place Recognition are introduced.
đĨ 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-methods)
- [LiDAR Place Recognition Datasets](#lidar-place-recognition-datasets)
- [LiDAR Place Recognition with Various Algorithms](#lidar-place-recognition-with-various-algorithms)
## News
**`24.05.21`** Merged [awesome-lidar repository](https://github.com/szenergy/awesome-lidar)!
**`24.03.20`** First pull request!
**`24.03.19`** First commit!
## LiDAR Place Recognition Methods
- 2024
- **`Handcraft`** **`TIM`** OSK: A Novel LiDAR Occupancy Set Key-Based Place Recognition Method in Urban Environment
[](https://ieeexplore.ieee.org/abstract/document/10464375) [](https://github.com/ZhangZh3ng/Occupancy-Set-Key)
- **`Handcraft`** **`ICRA`** Effectively Detecting Loop Closures using Point Cloud Density Maps đĨ
[](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/gupta2024icra.pdf) [](https://github.com/PRBonn/MapClosures)
- **`Handcraft`** **`TRO`** BTC: A Binary and Triangle Combined Descriptor for 3D Place Recognition đĨ
[](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10388464) [](https://github.com/hku-mars/btc_descriptor)
- **`Learning`** **`RAL`** P-GAT: Pose-Graph Attentional Network for Lidar Place Recognition
[](https://arxiv.org/abs/2309.00168) [](https://github.com/csiro-robotics/P-GAT)
- **`Learning`** **`ICCV`** CrossLoc3D: Aerial-Ground Cross-Source 3D Place Recognition
[](https://arxiv.org/abs/2303.17778) [](https://github.com/rayguan97/crossloc3d)
- **`Learning`** **`TRO`** Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM
[](https://arxiv.org/abs/2309.08086) [](https://github.com/nubot-nudt/LCR-Net)
- **`Learning`** **`Arxiv`** OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition
[](https://arxiv.org/abs/2405.07966) [](https://github.com/SCNU-RISLAB/OverlapMamba)
- 2023
- **`Handcraft`** **`TRO`** RING++: Roto-Translation-Invariant Gram for Global Localization on a Sparse Scan Map đĨ
[](https://arxiv.org/abs/2210.05984) [](https://github.com/lus6-Jenny/RING)
- **`Handcraft`** **`ICRA`** STD: A Stable Triangle Descriptor for 3D place recognition đĨ
[](https://arxiv.org/abs/2209.12435) [](https://github.com/hku-mars/STD)
- **`Handcraft`** **`ICRA`** Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation đĨ
[](https://arxiv.org/abs/2302.06149) [](https://github.com/lewisjiang/contour-context)
- **`Learning`** **`ICCV`** BEVPlace: Learning LiDAR-based Place Recognition using Bird's Eye View Images đĨ
[](https://arxiv.org/abs/2302.14325) [](https://github.com/zjuluolun/BEVPlace)
- **`Learning`** **`IROS`** Uncertainty-Aware Lidar Place Recognition in Novel Environments đĨ
[](https://arxiv.org/abs/2210.01361) [](https://github.com/csiro-robotics/Uncertainty-LPR)
- 2022
- **`Handcraft`** **`ICARCV`** Frequency-Domain Scan Context for Robust LiDAR-based Place Recognition with Translation and Rotation Invariance đĨ
[](https://arxiv.org/abs/2206.12628) [](https://github.com/soytony/FreSCo)
- **`Handcraft`** **`TRO`** Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments đĨ
[](https://arxiv.org/abs/2109.13494) [](https://github.com/gisbi-kim/scancontext_tro)
- **`Learning`** **`ICRA`** LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition đĨ
[](https://arxiv.org/abs/2109.08336) [](https://github.com/csiro-robotics/LoGG3D-Net)
- **`Learning`** **`RAL/IROS`** OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition đĨ
[](https://arxiv.org/abs/2203.03397) [](https://github.com/haomo-ai/OverlapTransformer)
- **`Learning`** **`CVPR`** BVMatch: Lidar-based Place Recognition Using Bird's-eye View Images đĨ
[](https://arxiv.org/abs/2109.00317) [](https://github.com/zjuluolun/BVMatch)
- **`Learning`** **`RAL`** RINet: Efficient 3D Lidar-Based Place Recognition Using Rotation Invariant Neural Network
[](https://ieeexplore.ieee.org/abstract/document/9712221) [](https://github.com/lilin-hitcrt/RINet)
- **`Learning`** **`TRO`** LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM đĨ
[](https://arxiv.org/abs/2103.05056) [](https://github.com/robot-learning-freiburg/LCDNet)
- **`Learning`** **`ICPR`** Improving Point Cloud Based Place Recognition with Ranking-based Loss and Large Batch Training đĨ
[](https://arxiv.org/abs/2203.00972) [](https://github.com/jac99/MinkLoc3Dv2)
- **`Learning`** **`IROS`** InCloud: Incremental Learning for Point Cloud Place Recognition
[](https://arxiv.org/abs/2203.00807) [](https://github.com/csiro-robotics/InCloud)
- **`Learning`** **`TIE`** SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data đĨ
[](https://arxiv.org/abs/2209.07951) [](https://github.com/BIT-MJY/SeqOT)
- **`Learning`** **`IROS`** D-LC-Nets: Robust Denoising and Loop Closing Networks for LiDAR SLAM in Complicated Circumstances with Noisy Point Clouds đĨ
[](https://ieeexplore.ieee.org/abstract/document/9981388) [](https://github.com/KangchengLiu/DLC_LiDAR_SLAM)
- 2021
- **`Handcraft`** **`ICRA`** Robust Place Recognition using an Imaging Lidar đĨ
[](https://arxiv.org/abs/2103.02111) [](https://github.com/TixiaoShan/imaging_lidar_place_recognition)
- **`Learning`** **`ICRA`** Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling đĨ
[](https://arxiv.org/abs/2011.14497) [](https://github.com/csiro-robotics/locus)
- **`Learning`** **`ICRA`** NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation đĨ
[](https://arxiv.org/abs/2103.12292) [](https://github.com/dachengxiaocheng/NDT-Transformer)
- **`Learning`** **`RAL/ICRA`** Disco: Differentiable scan context with orientation đĨ
[](https://arxiv.org/abs/2010.10949) [](https://github.com/MaverickPeter/DiSCO-pytorch)
- **`Learning`** **`RAL`** EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale
[](https://arxiv.org/abs/2110.12486) [](https://github.com/jac99/Egonn)
- **`Learning`** **`WACV`** MinkLoc3D: Point Cloud Based Large-Scale Place Recognition đĨ
[](https://arxiv.org/abs/2011.04530) [](https://github.com/jac99/MinkLoc3D)
- **`Learning`** **`RAL`** MinkLoc3D-SI: 3D LiDAR Place Recognition With Sparse Convolutions, Spherical Coordinates, and Intensity
[](https://arxiv.org/abs/2112.06539) [](https://github.com/KamilZywanowski/MinkLoc3D-SI)
- 2020
- **`Handcraft`** **`IROS`** LiDAR Iris for Loop-Closure Detection đĨ
[](https://arxiv.org/abs/1912.03825) [](https://github.com/BigMoWangying/LiDAR-Iris)
- **`Handcraft`** **`ICRA`** Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection đĨ
[](https://arxiv.org/abs/2003.05656) [](https://github.com/wh200720041/iscloam)
- **`Learning`** **`RSS`** OverlapNet: Loop Closing for LiDAR-based SLAM đĨ
[](https://arxiv.org/abs/2105.11344) [](https://github.com/PRBonn/OverlapNet)
- **`Learning`** **`TITS`** 3D LiDAR-Based Global Localization Using Siamese Neural Network đĨ
[](https://ieeexplore.ieee.org/abstract/document/8734150) [](https://github.com/HuanYin94/LocNet_caffe)
- **`Learning`** **`IROS`** Semantic Graph Based Place Recognition for 3D Point Clouds đĨ
[](https://arxiv.org/abs/2008.11459) [](https://github.com/kxhit/SG_PR)
- 2019
- **`Learning`** **`CVPR`** PCAN: 3D Attention Map Learning Using Contextual Information for Point Cloud Based Retrieval
[](https://arxiv.org/abs/1904.09793) [](https://github.com/XLechter/PCAN)
- 2018
- **`Handcraft`** **`IROS`** Scan Context: Egocentric Spatial Descriptor for Place Recognition Within 3D Point Cloud Map đĨ
[](https://ieeexplore.ieee.org/abstract/document/8593953) [](https://github.com/gisbi-kim/scancontext)
- **`Learning`** **`CVPR`** PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition đĨ
[](https://arxiv.org/abs/1804.03492) [](https://github.com/mikacuy/pointnetvlad)
- 2017
- **`Learning`** **`ICRA`** SegMatch: Segment based place recognition in 3D point clouds đĨ
[](https://arxiv.org/abs/1609.077200) [](https://github.com/ZengYeGe/segmatch)
- 2016
- **`Handcraft`** **`IROS`** M2DP: A novel 3D point cloud descriptor and its application in loop closure detection đĨ
[](https://ieeexplore.ieee.org/abstract/document/7759060) [](https://github.com/LiHeUA/M2DP)
- 2015
- **`Handcraft`** **`IROS`** A Fast Histogram-Based Similarity Measure for Detecting Loop Closures in 3-D LIDAR Data đĨ
[](https://ieeexplore.ieee.org/abstract/document/7353454) [](https://github.com/wangliuliu/histogram)
## LiDAR Place Recognition Datasets
- 2024
- **`Single/Multi`** **`CVPR`** **`OS1-128`** **`OS1-64`** **`Mid-70`** MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception đ¤ đ§
[](https://arxiv.org/abs/2403.11496) [](https://mcdviral.github.io/)
- **`Single/Multi`** **`IJRR`** **`OS2-128`** **`VLP-16`** **`Livox-Avia`** **`Aeva`** Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition đ
[](https://arxiv.org/abs/2309.14590) [](https://sites.google.com/view/heliprdataset)
- **`Single/Multi`** **`IEEE Sensors Letter`** **`OS1-64`** **`OS1-32`** DiTer: Diverse Terrain and Multi-Modal Dataset for Field Robot Navigation in Outdoor Environments đ¤
[](https://ieeexplore.ieee.org/abstract/document/10416213) [](https://sites.google.com/view/diter-dataset/)
- **`Multi`** **`RAL`** **`VLP-16`** **`Livox-Avia`** BotanicGarden: A High-Quality Dataset for Robot Navigation in Unstructured Natural Environments đ¤
[](https://arxiv.org/abs/2306.14137) [](https://github.com/robot-pesg/BotanicGarden)
- 2023
- **`Single/Multi`** **`ICRA`** **`VLP-16`** Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments đ§
[](https://arxiv.org/abs/2211.12732) [](https://csiro-robotics.github.io/Wild-Places/)
- **`Single/Multi`** **`ITSC`** **`Livox-Horizon`** NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mapping đ
[](https://arxiv.org/abs/2309.00962) [](https://github.com/junzhang2016/NTU4DRadLM)
- **`Multi`** **`IROS-workshop`** **`Mid-70`** ConPR: Ongoing Construction Site Dataset for Place Recognition đ§
[](https://oravus.github.io/vpr-workshop/assets/accepted_papers/1_conpr_ongoing_construction_sit.pdf) [](https://github.com/dongjae0107/ConPR)
- **`Multi`** **`IJRR`** **`VLP-128`** Boreas: A Multi-Season Autonomous Driving Dataset đ
[](https://arxiv.org/abs/2203.10168) [](https://www.boreas.utias.utoronto.ca/#/)
- **`Multi`** **`ISVC`** **`VLP-16`** Multimodal Dataset for Localization, Mapping and Crop Monitoring in Citrus Tree Farms đ¤
[](https://arxiv.org/abs/2309.15332) [](https://ucr-robotics.github.io/Citrus-Farm-Dataset/)
- **`Multi`** **`RAL`** **`VLP-16`** GRACO: A Multimodal Dataset for Ground and Aerial Cooperative Localization and Mapping đŠī¸ đ¤
[](https://ieeexplore.ieee.org/abstract/document/10008011) [](https://sites.google.com/view/graco-dataset)
- **`Multi`** **`IJRR`** **`OS1-64`** **`OS1-32`** Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters đĸ
[](https://arxiv.org/abs/2303.05555) [](https://sites.google.com/view/pohang-canal-dataset)
- **`Multi-Robot`** **`Arxiv`** **`VLP-16`** S3E: A Large-scale Multimodal Dataset for Collaborative SLAM đ¤
[](https://arxiv.org/abs/2210.13723) [](https://github.com/PengYu-Team/S3E)
- **`Multi-Robot`** **`Arxiv`** **`VLP-16`** Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned đ¤
[](https://arxiv.org/abs/2304.04362) [](https://github.com/MIT-SPARK/Kimera-Multi-Data)
- 2022
- **`Single/Multi`** **`Arxiv`** **`VLP-16`** ALITA: A Large-scale Incremental Dataset for Long-term Autonomy đ
[](https://arxiv.org/abs/2205.10737) [](https://github.com/MetaSLAM/ALITA)
- **`Multi-Robot`** **`RAL`** **`VLP-16`** DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization đ¤
[](https://ieeexplore.ieee.org/abstract/document/9662965) [](https://github.com/RobustFieldAutonomyLab/DiSCo-SLAM)
- 2021
- **`Single`** **`ICRA`** **`OS1-128`** Robust Place Recognition using an Imaging Lidar đ§
[](https://arxiv.org/abs/2103.02111) [](https://github.com/TixiaoShan/imaging_lidar_place_recognition)
- 2020
- **`Single/Multi`** **`ICRA`** **`OS1-64`** Multimodal Range Dataset for Urban Place Recognition đ
[](https://ieeexplore.ieee.org/abstract/document/9197298) [](https://sites.google.com/view/mulran-pr)
- **`Single/Multi`** **`ICRA`** **`HDL-32`** The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset đ
[](https://arxiv.org/abs/1909.01300) [](https://oxford-robotics-institute.github.io/radar-robotcar-dataset/)
- **`Single/Multi`** **`IROS`** **`HDL-32`** EU Long-term Dataset with Multiple Sensors for Autonomous Driving đ
[](https://arxiv.org/abs/1909.03330) [](https://epan-utbm.github.io/utbm_robocar_dataset/)
- 2019
- **`Single`** **`IJRR`** **`VLP-16`** Complex urban dataset with multi-level sensors from highly diverse urban environments đ
[](https://journals.sagepub.com/doi/full/10.1177/0278364919843996) [](https://sites.google.com/view/complex-urban-dataset)
- 2016
- **`Multi`** **`IJRR`** **`HDL-32`** University of Michigan North Campus long-term vision and lidar dataset đ¤
[](https://journals.sagepub.com/doi/full/10.1177/0278364915614638) [](http://robots.engin.umich.edu/nclt/)
- 2013
- **`Single`** **`IJRR`** **`HDL-64`** Vision meets Robotics: The KITTI Dataset đ
[](https://journals.sagepub.com/doi/full/10.1177/0278364913491297) [](https://www.cvlibs.net/datasets/kitti/raw_data.php)
## 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 đĨ
[](https://arxiv.org/abs/2210.05984) [](https://github.com/MaverickPeter/MR_SLAM.git)
- **`Multi-Robot SLAM`** **`IEEE Sensors Journal`** DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm đĨ
[](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10375928) [](https://github.com/PengYu-Team/DCL-SLAM)
- **`SLAM Framework`** **`IEEE/ASME Transactions on Mechatronics`** DLC-SLAM: A Robust LiDAR-SLAM System With Learning-Based Denoising and Loop Closure đĨ
[](https://ieeexplore.ieee.org/abstract/document/10092189) [](https://github.com/KangchengLiu/DLC_LiDAR_SLAM)
- **`SLAM Framework`** **`ICRA`** Real-Time Simultaneous Localization and Mapping with LiDAR intensity đĨ
[](https://arxiv.org/abs/2301.09257)[](https://github.com/MISTLab/Intensity_based_LiDAR_SLAM)
- 2022
- **`Multi-Robot SLAM`** **`RAL`** DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization đĨ
[](https://ieeexplore.ieee.org/abstract/document/9662965) [](https://github.com/RobustFieldAutonomyLab/DiSCo-SLAM)
- **`Mapping Framework`** **`ICRA`** LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping đĨ
[](https://arxiv.org/abs/2107.07712) [](https://github.com/gisbi-kim/lt-mapper)
- **`SLAM Framework`** **`ICEIC`** SC-LiDAR-SLAM: A Front-end Agnostic Versatile LiDAR SLAM System đĨ
[](https://arxiv.org/abs/2201.06423) [](https://github.com/gisbi-kim/SC-A-LOAM) [](https://github.com/gisbi-kim/SC-LeGO-LOAM) [](https://github.com/gisbi-kim/SC-LIO-SAM) [](https://github.com/gisbi-kim/FAST_LIO_SLAM)
## Contact
- Hogyun Kim ([email protected])