mlsanityData to 14 Oct 2026

Learning to Localize Using a LiDAR Intensity Map

arXiv 2012.10902 ↗First posted 20 Dec 2020cs.CV cs.LG cs.ROcited by 28

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Abstract (arXiv)

In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then conducted through an efficient convolutional matching between the embeddings. Our full system can operate in real-time at 15Hz while achieving centimeter level accuracy across different LiDAR sensors and environments. Our experiments illustrate the performance of the proposed approach over a large-scale dataset consisting of over 4000km of driving.

Key facts. Cited by 28 papers in the map (data through 14 Oct 2026). First posted on arXiv 20 Dec 2020.

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Citing papers per year: 2021: 7; 2022: 6; 2023: 11; 2024: 0; 2025: 4.

28 papers.

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  1. 2023OrienterNet: Visual Localization in 2D Public Maps with Neural Matchingcited by 84
  2. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  3. 2022Visual Cross-View Metric Localization with Dense Uncertainty Estimatescited by 48
  4. 2023SNAP: Self-Supervised Neural Maps for Visual Positioning and Semantic Understandingcited by 38
  5. 2023Convolutional Cross-View Pose Estimationcited by 36
  6. 2022PACT: Perception-Action Causal Transformer for Autoregressive Robotics Pre-Trainingcited by 24
  7. 2021Deep Multi-Task Learning for Joint Localization, Perception, and Predictioncited by 22
  8. 2023MapPrior: Bird's-Eye View Map Layout Estimation with Generative Modelscited by 21
  9. 2021Multimodal Scale Consistency and Awareness for Monocular Self-Supervised Depth Estimationcited by 16
  10. 2023View Consistent Purification for Accurate Cross-View Localizationcited by 15
  11. 2021Graph-based Thermal-Inertial SLAM with Probabilistic Neural Networkscited by 12
  12. 2021MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions, spherical coordinates, and intensitycited by 12
16 more
  1. 2022BEV-Locator: An End-to-end Visual Semantic Localization Network Using Multi-View Imagescited by 12
  2. 2023EgoVM: Achieving Precise Ego-Localization using Lightweight Vectorized Mapscited by 11
  3. 2023C-BEV: Contrastive Bird's Eye View Training for Cross-View Image Retrieval and 3-DoF Pose Estimationcited by 10
  4. 2021Robust Place Recognition using an Imaging Lidarcited by 9
  5. 2022DICP: Doppler Iterative Closest Point Algorithmcited by 8
  6. 2023Pix2Map: Cross-modal Retrieval for Inferring Street Maps from Imagescited by 6
  7. 2023GRID: A Platform for General Robot Intelligence Developmentcited by 6
  8. 2023RaLF: Flow-based Global and Metric Radar Localization in LiDAR Mapscited by 5
  9. 2025U-ViLAR: Uncertainty-Aware Visual Localization for Autonomous Driving via Differentiable Association and Registrationcited by 5
  10. 2023Energy-Based Models for Cross-Modal Localization using Convolutional Transformerscited by 3
  11. 2021(Just) A Spoonful of Refinements Helps the Registration Error Go Downcited by 2
  12. 2022View-Invariant Localization using Semantic Objects in Changing Environmentscited by 2
  13. 2025DiffVL: Diffusion-Based Visual Localization on 2D Maps via BEV-Conditioned GPS Denoisingcited by 2
  14. 2025Evaluating Global Geo-alignment for Precision Learned Autonomous Vehicle Localization using Aerial Datacited by 1
  15. 2022On the Application of Efficient Neural Mapping to Real-Time Indoor Localisation for Unmanned Ground Vehiclescited by 0
  16. 2025GroundLoc: Efficient Large-Scale Outdoor LiDAR-Only Localizationcited by 0