mlsanityData to 14 Oct 2026

LocNet: Global localization in 3D point clouds for mobile vehicles

arXiv 1712.02165 ↗First posted 6 Dec 2017cs.RO cs.LGcited by 18

Not on the map. Why?

Abstract (arXiv)

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation in the global prior map. Specifically, we present a semi-handcrafted representation learning method for LiDAR point clouds using siamese LocNets, which states the place recognition problem to a similarity modeling problem. With the final learned representations by LocNet, a global localization framework with range-only observations is proposed. To demonstrate the performance and effectiveness of our global localization system, KITTI dataset is employed for comparison with other algorithms, and also on our long-time multi-session datasets for evaluation. The result shows that our system can achieve high accuracy.

Key facts. Cited by 18 papers in the map (data through 14 Oct 2026). First posted on arXiv 6 Dec 2017.

Builds on

No reference list yet.

Built on by

Cited by year

Citing papers per year: 2021: 5; 2022: 8; 2023: 2; 2024: 3.

18 papers.

Sort:

  1. 2022HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDARcited by 38
  2. 2022RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Mapcited by 29
  3. 2021SSC: Semantic Scan Context for Large-Scale Place Recognitioncited by 24
  4. 2021SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closurecited by 14
  5. 2021Place recognition survey: An update on deep learning approachescited by 13
  6. 2022BEV-Locator: An End-to-end Visual Semantic Localization Network Using Multi-View Imagescited by 12
  7. 2021Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimationcited by 11
  8. 2021Loop closure detection using local 3D deep descriptorscited by 8
  9. 2024MinkUNeXt: Point Cloud-based Large-scale Place Recognition using 3D Sparse Convolutionscited by 6
  10. 2022Learning to Register Unbalanced Point Pairscited by 5
  11. 2024HiSC4D: Human-centered interaction and 4D Scene Capture in Large-scale Space Using Wearable IMUs and LiDARcited by 5
  12. 2022Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloudcited by 3
6 more
  1. 2022A Survey on Visual Map Localization Using LiDARs and Camerascited by 1
  2. 2022DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognitioncited by 1
  3. 2023Converting Depth Images and Point Clouds for Feature-based Pose Estimationcited by 1
  4. 2022On the Application of Efficient Neural Mapping to Real-Time Indoor Localisation for Unmanned Ground Vehiclescited by 0
  5. 2023Single-Shot Global Localization via Graph-Theoretic Correspondence Matchingcited by 0
  6. 2024An experimental evaluation of Siamese Neural Networks for robot localization using omnidirectional imaging in indoor environmentscited by 0