Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection

12 March 2020

Lihua Xie

Papers citing "Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection"

50 / 67 papers shown

Title
TACS-Graphs: Traversability-Aware Consistent Scene Graphs for Ground Robot Indoor Localization and Mapping Jeewon Kim Minho Oh Hyun Myung 22 0 0 17 Jun 2025
Cross-Modal Geometric Hierarchy Fusion: An Implicit-Submap Driven Framework for Resilient 3D Place Recognition Xiaohui Jiang Haijiang Zhu Chadei Li Fulin Tang Ning An 17 0 0 17 Jun 2025
MinkUNeXt-SI: Improving point cloud-based place recognition including spherical coordinates and LiDAR intensity Judith Vilella-Cantos J. J. Cabrera L. Payá Mónica Ballesta David Valiente 3DPC 89 0 0 23 May 2025
Ranking-aware Continual Learning for LiDAR Place Recognition Xufei Wang Gengxuan Tian Junqiao Zhao Siyue Tao Qiwen Gu Qiankun Yu Tiantian Feng CLL 72 1 0 12 May 2025
Doppler-SLAM: Doppler-Aided Radar-Inertial and LiDAR-Inertial Simultaneous Localization and Mapping Dong Wang Hannes Haag Daniel Casado Herraez Stefan May Cyrill Stachniss Andreas Nuechter 72 0 0 15 Apr 2025
PNE-SGAN: Probabilistic NDT-Enhanced Semantic Graph Attention Network for LiDAR Loop Closure Detection Xiong Li Shulei Liu Xingning Chen Yisong Wu Dong Zhu 113 0 0 11 Apr 2025
TDFANet: Encoding Sequential 4D Radar Point Clouds Using Trajectory-Guided Deformable Feature Aggregation for Place Recognition Shouyi Lu Guirong Zhuo Haitao Wang Quan Zhou Huanyu Zhou Renbo Huang Minqing Huang Lianqing Zheng Qiang Shu 3DPC 100 0 0 07 Apr 2025
SR-LIO++: Efficient LiDAR-Inertial Odometry and Quantized Mapping with Sweep Reconstruction Zikang Yuan Ruiye Ming Chengwei Zhao Yonghao Tan Pingcheng Dong H. Luo Yuzhong Jiao Xin-She Yang Kwang-Ting Cheng 87 0 0 29 Mar 2025
ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images Yanqing Shen Turcan Tuna Marco Hutter Cesar Cadena Nanning Zheng 150 0 0 06 Mar 2025
Introspective Loop Closure for SLAM with 4D Imaging Radar Maximilian Hilger V. Kubelka Daniel Adolfsson Ralf Becker Henrik Andreasson A. Lilienthal 76 1 0 04 Mar 2025
LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks Liudi Yang Ruben Mascaro Ignacio Alzugaray Sai Manoj Prakhya Marco Karrer Ziyuan Liu M. Chli 3DPC 149 1 0 31 Jan 2025
Robust Loop Closure by Textual Cues in Challenging Environments Tongxing Jin T. Nguyen Xinhang Xu Yizhuo Yang Shenghai Yuan Jianping Li Lihua Xie 86 6 0 21 Oct 2024
RING#: PR-by-PE Global Localization with Roto-translation Equivariant Gram Learning Sha Lu Xuecheng Xu Yuxuan Wu Haojian Lu Xieyuanli Chen R. Xiong Yue Wang 86 3 0 30 Aug 2024
SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM Neng Wang Xieyuanli Chen Chenghao Shi Zhiqiang Zheng Hongshan Yu Huimin Lu 75 5 0 11 Jul 2024
CCTNet: A Circular Convolutional Transformer Network for LiDAR-based Place Recognition Handling Movable Objects Occlusion Gang Wang Chaoran Zhu Qian Xu Tong Zhang Hai Zhang XiaoPeng Fan Jue Hu 98 1 0 17 May 2024
General Place Recognition Survey: Towards Real-World Autonomy Peng Yin Jianhao Jiao Shiqi Zhao Lingyun Xu Guoquan Huang Howie Choset Sebastian A. Scherer Jianda Han 174 6 0 08 May 2024
FRAME: A Modular Framework for Autonomous Map-merging: Advancements in the Field Nikolaos Stathoulopoulos B. Lindqvist A. Koval Ali-akbar Agha-mohammadi G. Nikolakopoulos 3DPC 101 7 0 27 Apr 2024
Towards introspective loop closure in 4D radar SLAM Maximilian Hilger V. Kubelka Daniel Adolfsson Henrik Andreasson A. Lilienthal 69 2 0 05 Apr 2024
Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests Haedam Oh Nived Chebrolu Matías Mattamala Leonard Freissmuth Maurice F. Fallon 94 4 0 21 Mar 2024
ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mapping Jiabao Zhang Yu Zhang 3DPC 83 2 0 08 Mar 2024
HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations Minwoo Jung Wooseong Yang Dongjae Lee Hyeonjae Gil Giseop Kim Ayoung Kim 84 28 0 26 Sep 2023
Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning Peng Yin Haozhi Cao Thien-Minh Nguyen Shenghai Yuan Shuyang Zhang Kangcheng Liu Lihua Xie 80 17 0 16 Sep 2023
3D-SeqMOS: A Novel Sequential 3D Moving Object Segmentation in Autonomous Driving Qipeng Li Yuan Zhuang Yiwen Chen Jianzhu Huai Miaopeng Li Tianbing Ma Yufei Tang Xinlian Liang 3DPC 60 4 0 18 Jul 2023
NDT-Map-Code: A 3D global descriptor for real-time loop closure detection in lidar SLAM L. Liao Wenlei Yan Li Sun Xinhui Bai Zhenxing You Hongyuan Yuan Chun-yan Fu 55 1 0 17 Jul 2023
Semi-Elastic LiDAR-Inertial Odometry Zikang Yuan Fengtian Lang Tianle Xu Ruiye Ming Chen-Ping Zhao Xin Yang 75 10 0 15 Jul 2023
LiDAR-Based Place Recognition For Autonomous Driving: A Survey Yongjun Zhang Pengcheng Shi Jiayuan Li 116 25 0 18 Jun 2023
Single-Shot Global Localization via Graph-Theoretic Correspondence Matching Shigemichi Matsuzaki Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno 135 4 0 06 Jun 2023
Why semantics matters: A deep study on semantic particle-filtering localization in a LiDAR semantic pole-map Yuming Huang Yinjuan Gu Chengzhong Xu Hui Kong 3DPC 61 4 0 23 May 2023
A Coarse-to-Fine Place Recognition Approach using Attention-guided Descriptors and Overlap Estimation Chencan Fu Lin Li Linpeng Peng Yukai Ma Xiangrui Zhao Yong Liu 84 3 0 13 Mar 2023
A Unified BEV Model for Joint Learning of 3D Local Features and Overlap Estimation Lin Li Wendong Ding Yongkun Wen Yufei Liang Yong-Jin Liu Guowei Wan 3DPC 54 5 0 28 Feb 2023
LIWO: Lidar-Inertial-Wheel Odometry Zikang Yuan Fengtian Lang Tianle Xu Xin Yang 59 5 0 28 Feb 2023
Evaluation of Lidar-based 3D SLAM algorithms in SubT environment A. Koval Christoforos Kanellakis G. Nikolakopoulos 31 12 0 27 Feb 2023
A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems Huan Yin Xuecheng Xu Shan Lu Xieyuanli Chen R. Xiong Shaojie Shen C. Stachniss Yue Wang 160 71 0 15 Feb 2023
CVTNet: A Cross-View Transformer Network for Place Recognition Using LiDAR Data Junyi Ma Guang-ming Xiong Jingyi Xu Xieyuanli Chen ViT 111 35 0 03 Feb 2023
SR-LIO: LiDAR-Inertial Odometry with Sweep Reconstruction Zikang Yuan Fengtian Lang Tianle Xu Xin Yang 67 21 0 19 Oct 2022
Unsupervised confidence for LiDAR depth maps and applications Andrea Conti Matteo Poggi Filippo Aleotti S. Mattoccia 3DV 93 12 0 06 Oct 2022
DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams J. McConnell Yewei Huang Paul Szenher Ivana Collado-Gonzalez Brendan Englot 54 7 0 03 Oct 2022
NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection Rui Zhou Li He Hong Zhang Xubin Lin Y. Guan 58 10 0 26 Sep 2022
PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration Using Panoptic Attention J. Arce Niclas Vodisch Daniele Cattaneo Wolfram Burgard Abhinav Valada 3DPC 92 30 0 20 Sep 2022
SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data Junyi Ma Xieyuanli Chen Jingyi Xu Guang-ming Xiong ViT 3DPC 105 46 0 16 Sep 2022
BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM Yunge Cui Xieyuanli Chen Yinlong Zhang Jiahua Dong Qingxiao Wu Feng Zhu 64 70 0 15 Aug 2022
BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR Georgi Pramatarov D. Martini Matthew Gadd Paul Newman 3DPC 59 23 0 30 Jun 2022
FreSCo: Frequency-Domain Scan Context for LiDAR-based Place Recognition with Translation and Rotation Invariance Y. Fan Xin Du Lun Luo Ji Shen 89 17 0 25 Jun 2022
Object Scan Context: Object-centric Spatial Descriptor for Place Recognition within 3D Point Cloud Map Haodong Yuan Yudong Zhang Sheng-Hung Fan Xue Li Jian Wang 3DPC 63 2 0 07 Jun 2022
OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for LiDAR-Based Place Recognition Junyi Ma Jun Zhang Jintao Xu Rui Ai Weihao Gu Xieyuanli Chen ViT 3DPC 93 137 0 07 Mar 2022
Autonomous Vehicles: Open-Source Technologies, Considerations, and Development Oussama Saoudi Ishwar Singh H. Mahyar VLM 81 5 0 25 Jan 2022
MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions, spherical coordinates, and intensity Kamil Zywanowski Adam Banaszczyk Michał R. Nowicki J. Komorowski 3DPC 89 33 0 13 Dec 2021
RailLoMer: Rail Vehicle Localization and Mapping with LiDAR-IMU-Odometer-GNSS Data Fusion Yusheng Wang Y. Lou Yi Zhang Weiwei Song Fei Huang Zhiyong Tu Shuyuan Zhang 54 3 0 30 Nov 2021
DSC: Deep Scan Context Descriptor for Large-Scale Place Recognition Jiafeng Cui Teng Huang Yingfeng Cai Junqiao Zhao Lu Xiong Zhuoping Yu 3DPC 51 8 0 27 Nov 2021
LiODOM: Adaptive Local Mapping for Robust LiDAR-Only Odometry E. Garcia-Fidalgo Joan P. Company-Corcoles F. Bonnín-Pascual A. Ortiz 30 9 0 05 Nov 2021