SegMatch: Segment based loop-closure for 3D point clouds

25 September 2016

Roland Siegwart

Papers citing "SegMatch: Segment based loop-closure for 3D point clouds"

50 / 106 papers shown

Title
PNE-SGAN: Probabilistic NDT-Enhanced Semantic Graph Attention Network for LiDAR Loop Closure Detection Xiong Li Shulei Liu Xingning Chen Yisong Wu Dong Zhu 44 0 0 11 Apr 2025
ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images Yanqing Shen Turcan Tuna Marco Hutter César Cadena Nanning Zheng 74 0 0 06 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 91 1 0 31 Jan 2025
QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives Ji Wu Huai Yu Shu Han Xi-Meng Cai Ming-Feng Wang Wen Yang Gui-Song Xia 3DPC 75 0 0 04 Dec 2024
Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System Zheng Liu H. Li Chongjian Yuan Xiyuan Liu Jiarong Lin Rundong Li Chunran Zheng Bingyang Zhou Wenyi Liu Fu Zhang 25 3 0 11 Oct 2024
ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization Mason B. Peterson Yi Xuan Jia Yulun Tian Annika Thomas Jonathan P. How 49 2 0 10 Oct 2024
BEVPlace++: Fast, Robust, and Lightweight LiDAR Global Localization for Unmanned Ground Vehicles Lun Luo Siyuan Cao Xiaorui Li Jintao Xu Rui Ai Zhu Yu Xieyuanli Chen 32 2 0 03 Aug 2024
ModaLink: Unifying Modalities for Efficient Image-to-PointCloud Place Recognition Weidong Xie Lun Luo Nanfei Ye Yi Ren Shaoyi Du Minhang Wang Jintao Xu Rui Ai Weihao Gu Xieyuanli Chen 3DPC 23 2 0 27 Mar 2024
Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests Haedam Oh Nived Chebrolu Matías Mattamala Leonard Freissmuth Maurice F. Fallon 27 3 0 21 Mar 2024
RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation Mathieu Labbé François Michaud 40 727 0 10 Mar 2024
That's My Point: Compact Object-centric LiDAR Pose Estimation for Large-scale Outdoor Localisation Georgi Pramatarov Matthew Gadd Paul Newman Daniele De Martini 3DPC 26 3 0 07 Mar 2024
RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction Nikolaos Stathoulopoulos Mario A. V. Saucedo A. Koval G. Nikolakopoulos 3DPC 35 4 0 03 Feb 2024
Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization J. Blanco-Claraco F. Mañas-Álvarez José-Luis Torres Moreno Francisco Rodríguez A. Giménez-Fernández 14 17 0 16 Jan 2024
FAKEPCD: Fake Point Cloud Detection via Source Attribution Y. Qu Zhikun Zhang Yun Shen Michael Backes Yang Zhang 3DPC 35 0 0 18 Dec 2023
Scene 3-D Reconstruction System in Scattering Medium Zhuoyifan Zhang Lu Zhang Liang Wang Haoming Wu 26 1 0 14 Dec 2023
DeepPointMap: Advancing LiDAR SLAM with Unified Neural Descriptors Xiaze Zhang Ziheng Ding Qi Jing Yuejie Zhang Wenchao Ding Rui Feng 23 4 0 05 Dec 2023
Applications of Spiking Neural Networks in Visual Place Recognition S. Hussaini Michael Milford Tobias Fischer 66 6 0 22 Nov 2023
Converting Depth Images and Point Clouds for Feature-based Pose Estimation Robert Lösch M. Sastuba Jonas Toth Bernhard Jung 3DPC MDE 13 3 0 23 Oct 2023
Pose-Graph Attentional Graph Neural Network for Lidar Place Recognition Milad Ramezani Liang Wang Joshua Knights Zhibin Li Pauline Pounds Peyman Moghadam 3DPC 28 2 0 31 Aug 2023
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model Zhijian Qiao Zehuan Yu Binqian Jiang Huan Yin Shaojie Shen 3DPC 30 16 0 22 Aug 2023
SEM-GAT: Explainable Semantic Pose Estimation using Learned Graph Attention Efimia Panagiotaki D. Martini Georgi Pramatarov Matthew Gadd Lars Kunze 3DPC 22 5 0 07 Aug 2023
Deep Robust Multi-Robot Re-localisation in Natural Environments Milad Ramezani Ethan Griffiths Maryam Haghighat Alex Pitt Peyman Moghadam 42 7 0 26 Jul 2023
LiDAR-Based Place Recognition For Autonomous Driving: A Survey Yongjun Zhang Pengcheng Shi Jiayuan Li 39 22 0 18 Jun 2023
InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning Lintong Zhang Sundara Tejaswi Digumarti Georgi Tinchev Maurice F. Fallon 33 8 0 16 May 2023
Global Localization in Unstructured Environments using Semantic Object Maps Built from Various Viewpoints Jacqueline Ankenbauer Parker C. Lusk Annika Thomas Jonathan P. How 26 6 0 08 Mar 2023
BPT: Binary Point Cloud Transformer for Place Recognition Zhixing Hou Yuzhang Shang Tian Gao Yan Yan MQ ViT 29 3 0 02 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 8 5 0 28 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 31 64 0 15 Feb 2023
Scan-Matching based Particle Filtering approach for LIDAR-only Localization Nagavenkat Adurthi 27 1 0 14 Feb 2023
Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation Binqian Jiang Shaojie Shen 3DPC 10 21 0 13 Feb 2023
Real-time LIDAR localization in natural and urban environments Georgi Tinchev Adrian Penate-Sanchez Maurice F. Fallon 20 1 0 31 Jan 2023
Real-Time Simultaneous Localization and Mapping with LiDAR intensity Wenqian Du Giovanni Beltrame 12 10 0 23 Jan 2023
GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registration Parker C. Lusk Devarth Parikh Jonathan P. How 3DV 39 13 0 24 Dec 2022
Robust Double-Encoder Network for RGB-D Panoptic Segmentation Matteo Sodano Federico Magistri Tiziano Guadagnino Jens Behley C. Stachniss 34 11 0 06 Oct 2022
STD: Stable Triangle Descriptor for 3D place recognition Chongjian Yuan Jiarong Lin Zuhao Zou Xiaoping Hong Fu Zhang 9 64 0 26 Sep 2022
Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM Jiarui Tan Ignacio Torroba Yiping Xie John Folkesson 3DPC 19 7 0 18 Sep 2022
A Survey on Visual Map Localization Using LiDARs and Cameras Mahdi Elhousni Xinming Huang 14 3 0 05 Aug 2022
BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR Georgi Pramatarov D. Martini Matthew Gadd Paul Newman 3DPC 11 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 25 15 0 25 Jun 2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM Chris Denniston Yun Chang Andrzej Reinke K. Ebadi Gaurav Sukhatme Luca Carlone B. Morrell Ali-akbar Agha-mohammadi 41 25 0 24 May 2022
HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud Zhixing Hou Yan Yan Chengzhong Xu Hui Kong ViT 14 23 0 12 Apr 2022
Optimized SC-F-LOAM: Optimized Fast LiDAR Odometry and Mapping Using Scan Context L. Liao Chunyun Fu Binbin Feng Tian Su 19 14 0 11 Apr 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 20 133 0 07 Mar 2022
Descriptellation: Deep Learned Constellation Descriptors Chunwei Xing Xinyu Sun Andrei Cramariuc Samuel Gull Jen Jen Chung César Cadena Roland Siegwart Florian Tschopp 18 1 0 01 Mar 2022
3D ToF LiDAR in Mobile Robotics: A Review Tao Yang You Li Cheng Zhao Dexin Yao Guanyin Chen Li Sun T. Krajník Zhi Yan 11 24 0 22 Feb 2022
MultiRes-NetVLAD: Augmenting Place Recognition Training with Low-Resolution Imagery Ahmad Khaliq Michael Milford Sourav Garg ObjD 25 30 0 18 Feb 2022
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments Jinkun Wang Fanfei Chen Yewei Huang J. McConnell Tixiao Shan Brendan Englot 18 22 0 16 Feb 2022
SC-LiDAR-SLAM: a Front-end Agnostic Versatile LiDAR SLAM System Giseop Kim Seungsang Yun Jeong-Man Kim Ayoung Kim 14 21 0 17 Jan 2022
DSC: Deep Scan Context Descriptor for Large-Scale Place Recognition Jiafeng Cui Teng Huang Yingfeng Cai Junqiao Zhao Lu Xiong Zhuoping Yu 3DPC 17 7 0 27 Nov 2021
Loop closure detection using local 3D deep descriptors Youjie Zhou Yiming Wang Fabio Poiesi Qi Qin Yi Wan 3DPC 18 31 0 31 Oct 2021