For anyone who wants to do research about 3D point cloud based place recognition / loop closure detection. Thanks.

Keywords

out.: outdoor   |   ind.: indoor  
pc.: point cloud   |   img.: image   |   rad.: radar  
pos.: pose  

Statistics: 🔥 code is available & stars >= 100  |  ⭐ citation >= 50

2009

• [ICRA] Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform. [out. pc.] ⭐
• [JFR] Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform. [out. pc.] ⭐

2010

• [ICRA] Robust place recognition for 3D range data based on point features. [out. pc. pos.] ⭐

2011

• [SSRR] Loop closure detection using small-sized signatures from 3D LIDAR data. [out. pc.]

2012

• [UST] Real-time lidar-based place recognition using distinctive shape descriptors. [out. pc. img. pos.]
• [TIM] 3-D-Laser-Based Scene Measurement and Place Recognition for Mobile Robots in Dynamic Indoor Environments. [ind. pc.] ⭐

2013

• [ICRA] Place recognition using keypoint voting in large 3D lidar datasets. [out. pc.] ⭐

2015

• [IROS] A Fast Histogram-Based Similarity Measure for Detecting Loop Closures in 3-D LIDAR Data. [code] [out. pc.]

2016

2017

• [ICRA] SegMatch: Segment based place recognition in 3D point clouds. [code] [out. pc. pos.] ⭐

2018

2019

• [RA-L] 1-Day Learning, 1-Year Localization: Long-Term LiDAR Localization Using Scan Context Image. [code] [out. pc. pos.] 🔥

• [RA-L] Local Descriptor for Robust Place Recognition Using LiDAR Intensity. [out. pc.]

• [RA-L] Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU. [out. pc. pos.]

• [IROS] OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios. [out. pc. pos.]

• [IROS] Semantically Assisted Loop Closure in SLAM Using NDT Histograms. [out. pc.]

• [IROS] SeqLPD: Sequence Matching Enhanced Loop-Closure Detection Based on Large-Scale Point Cloud Description for Self-Driving Vehicles. [out. pc.]

• [CVPR] PCAN: 3D Attention Map Learning Using Contextual Information for Point. [code] [out. pc.] ⭐

• [ICCV] LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis. [code] [out. pc.] ⭐

• [TIE] Season-Invariant and Viewpoint-Tolerant LiDAR Place Recognition in GPS-Denied Environments. [out. pc.]

• [arXiv] A fast, complete, point cloud based loop closure for LiDAR odometry and mapping. [code] [out. pc.] 🔥

2020

• [RSS] OverlapNet - Loop Closing for 3D LiDAR-based SLAM. [code] [out. pc. pos.] 🔥 ⭐

• [ICRA] Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection. [code] [out. pc. pos.] 🔥

• [IROS] Semantic Graph Based Place Recognition for 3D Point Clouds. [code] [out. pc.] 🔥

• [IROS] LiDAR Iris for Loop-Closure Detection. [code] [out. pc. pos.]

• [IROS] Seed: A Segmentation-Based Egocentric 3D Point Cloud Descriptor for Loop Closure Detection. [out. pc.]

• [IROS] GOSMatch: Graph-of-Semantics Matching for Detecting Loop Closures in 3D LiDAR data. [code] [out. pc.]

• [IROS] Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments. [out. pc.]

• [IROS] SpoxelNet: Spherical Voxel-based Deep Place Recognition for 3D Point Clouds of Crowded Indoor Spaces. [ind. pc.]

• [IROS] Voxel-Based Representation Learning for Place Recognition Based on 3D Point Clouds. [out. pc.]

• [IROS] SeqSphereVLAD: Sequence Matching Enhanced Orientation-invariant Place Recognition. [out. pc.]

• [ECCV] DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization. [code] [out. pc. pos.] 🔥

• [RAS] Global matching of point clouds for scan registration and loop detection. [out. pc.]

• [AR] Loop detection for 3D LiDAR SLAM using segment-group matching. [out. pc.]

• [TIE] Fast Sequence-matching Enhanced Viewpoint-invariant 3D Place Recognition. [out. pc.]

• [Sensors] Large-Scale Place Recognition Based on Camera-LiDAR Fused Descriptor. [out. pc. img.]

• [Sensors] A Novel Loop Closure Detection Approach Using Simplified Structure for Low-Cost LiDAR. [ind. pc.]

• [ICARCV] Comparison of camera-based and 3D LiDAR-based place recognition across weather conditions. [out. pc. img.]

• [ICMR] DAGC: Employing Dual Attention and Graph Convolution for Point Cloud based Place Recognition. [out. pc.]

• [CGF] SRNet: A 3D Scene Recognition Network using Static Graph and Dense Semantic Fusion. [out. pc.]

• [IJRR] SegMap: Segment-based mapping and localization using data-driven descriptors. [code] [out. pc.] 🔥 ⭐

• [arXiv] PIC-Net: Point Cloud and Image Collaboration Network for Large-Scale Place Recognition. [out. pc. img.]

2021

2022

2023