mlsanityData to 7 Oct 2026

Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments

arXiv 2109.13494 ↗First posted 28 Sep 2021cs.ROcited by 72

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Abstract (arXiv)

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural place recognition by recognizing a place based on structural appearance, namely from range sensors. Extending our previous work on a rotation invariant spatial descriptor, the proposed descriptor completes a generic descriptor robust to both rotation (heading) and translation when roll-pitch motions are not severe. We introduce two sub-descriptors and enable topological place retrieval followed by the 1-DOF semi-metric localization thereby bridging the gap between topological place retrieval and metric localization. The proposed method has been evaluated thoroughly in terms of environmental complexity and scale. The source code is available and can easily be integrated into existing LiDAR simultaneous localization and mapping (SLAM).

Key facts. Cited by 72 papers in the map (data through 7 Oct 2026). First posted on arXiv 28 Sep 2021.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 12; 2023: 9; 2024: 10; 2025: 19; 2026: 20.

72 papers.

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  1. 2024PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistencycited by 42
  2. 2021AdaFusion: Visual-LiDAR Fusion with Adaptive Weights for Place Recognitioncited by 36
  3. 2022RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Mapcited by 29
  4. 2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
  5. 2022InCloud: Incremental Learning for Point Cloud Place Recognitioncited by 22
  6. 2022Spectral Geometric Verification: Re-Ranking Point Cloud Retrieval for Metric Localizationcited by 21
  7. 2022BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAMcited by 13
  8. 2021MinkLoc3D-SI: 3D LiDAR place recognition with sparse convolutions, spherical coordinates, and intensitycited by 12
  9. 2022General Place Recognition Survey: Towards the Real-world Autonomy Agecited by 11
  10. 2022LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agentscited by 11
  11. 2022AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environmentscited by 10
  12. 2023Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimationcited by 8
38 more
  1. 2023GeoAdapt: Self-Supervised Test-Time Adaptation in LiDAR Place Recognition Using Geometric Priorscited by 8
  2. 2024VOLoc: Visual Place Recognition by Querying Compressed Lidar Mapcited by 7
  3. 2024DuMapNet: An End-to-End Vectorization System for City-Scale Lane-Level Map Generationcited by 7
  4. 2024Autonomous Driving in Unstructured Environments: How Far Have We Come?cited by 7
  5. 2025ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Imagescited by 6
  6. 2022LinK3D: Linear Keypoints Representation for 3D LiDAR Point Cloudcited by 5
  7. 2024RING#: PR-by-PE Global Localization with Roto-translation Equivariant Gram Learningcited by 5
  8. 2025S-Graphs 2.0 -- A Hierarchical-Semantic Optimization and Loop Closure for SLAMcited by 5
  9. 2023Leveraging BEV Representation for 360-degree Visual Place Recognitioncited by 4
  10. 2022GraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registrationcited by 3
  11. 2023A Unified BEV Model for Joint Learning of 3D Local Features and Overlap Estimationcited by 3
  12. 2022Uncertainty-Aware Lidar Place Recognition in Novel Environmentscited by 2
  13. 2023Poses as Queries: Image-to-LiDAR Map Localization with Transformerscited by 2
  14. 2023Improving Extrinsics between RADAR and LIDAR using Learningcited by 2
  15. 2023SelFLoc: Selective Feature Fusion for Large-scale Point Cloud-based Place Recognitioncited by 2
  16. 2025A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAMcited by 2
  17. 2025LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networkscited by 2
  18. 2025REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluationcited by 2
  19. 2025BEVDiffLoc: End-to-End LiDAR Global Localization in BEV View based on Diffusion Modelcited by 2
  20. 2025ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environmentscited by 2
  21. 2025Polar Perspectives: Evaluating 2-D LiDAR Projections for Robust Place Recognition with Visual Foundation Modelscited by 2
  22. 2022DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognitioncited by 1
  23. 2023A Coarse-to-Fine Place Recognition Approach using Attention-guided Descriptors and Overlap Estimationcited by 1
  24. 2024RaNDT SLAM: Radar SLAM Based on Intensity-Augmented Normal Distributions Transformcited by 1
  25. 2025Enhanced 3D Object Detection via Diverse Feature Representations of 4D Radar Tensorcited by 1
  26. 2025RE-TRIP : Reflectivity Instance Augmented Triangle Descriptor for 3D Place Recognitioncited by 1
  27. 2026Advanced techniques and applications of LiDAR Place Recognition in Agricultural Environments: A Comprehensive Surveycited by 1
  28. 2026TreeLoc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matchingcited by 1
  29. 2026PROBE: Probabilistic Occupancy BEV Encoding with Analytical Translation Robustness for 3D Place Recognitioncited by 1
  30. 2026BEV-SLD: Self-Supervised Scene Landmark Detection for Global Localization with LiDAR Bird's-Eye View Imagescited by 1
  31. 2026LEADER: Learning Reliable Local-to-Global Correspondences for LiDAR Relocalizationcited by 1
  32. 2022Object Scan Context: Object-centric Spatial Descriptor for Place Recognition within 3D Point Cloud Mapcited by 0
  33. 2023Single-Shot Global Localization via Graph-Theoretic Correspondence Matchingcited by 0
  34. 2024SPOT: Point Cloud Based Stereo Visual Place Recognition for Similar and Opposing Viewpointscited by 0
  35. 2024IFTD: Image Feature Triangle Descriptor for Loop Detection in Driving Scenescited by 0
  36. 2024Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognitioncited by 0
  37. 2025Fast 3D point clouds retrieval for Large-scale 3D Place Recognitioncited by 0
  38. 2025PNE-SGAN: Probabilistic NDT-Enhanced Semantic Graph Attention Network for LiDAR Loop Closure Detectioncited by 0

50 most cited of 72 All 72 (JSON)