mlsanityData to 13 Oct 2026

EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale

arXiv 2110.12486 ↗First posted 24 Oct 2021cs.CVcited by 25

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Abstract (arXiv)

The paper presents a deep neural network-based method for global and local descriptors extraction from a point cloud acquired by a rotating 3D LiDAR. The descriptors can be used for two-stage 6DoF relocalization. First, a course position is retrieved by finding candidates with the closest global descriptor in the database of geo-tagged point clouds. Then, the 6DoF pose between a query point cloud and a database point cloud is estimated by matching local descriptors and using a robust estimator such as RANSAC. Our method has a simple, fully convolutional architecture based on a sparse voxelized representation. It can efficiently extract a global descriptor and a set of keypoints with local descriptors from large point clouds with tens of thousand points. Our code and pretrained models are publicly available on the project website.

Key facts. Cited by 25 papers in the map (data through 13 Oct 2026). Builds on 19 of its 33 references that are in the map. First posted on arXiv 24 Oct 2021.

Builds on

19 of 33 references.

References · 19

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7 more
  1. 2021OverlapNet: Loop Closing for LiDAR-based SLAMcited by 72
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  3. 2020DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalizationcited by 42
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Cited by year (2026 to 13 Oct)

Citing papers per year: 2022: 3; 2023: 4; 2024: 6; 2025: 7; 2026: 5.

25 papers.

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  1. 2022RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Mapcited by 29
  2. 2022Spectral Geometric Verification: Re-Ranking Point Cloud Retrieval for Metric Localizationcited by 21
  3. 2023Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAMcited by 15
  4. 2024SALSA: Swift Adaptive Lightweight Self-Attention for Enhanced LiDAR Place Recognitioncited by 7
  5. 2025ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Imagescited by 6
  6. 2024RING#: PR-by-PE Global Localization with Roto-translation Equivariant Gram Learningcited by 5
  7. 2023Leveraging BEV Representation for 360-degree Visual Place Recognitioncited by 4
  8. 2024FlashMix: Fast Map-Free LiDAR Localization via Feature Mixing and Contrastive-Constrained Accelerated Trainingcited by 3
  9. 2025LRFusionPR: A Polar BEV-Based LiDAR-Radar Fusion Network for Place Recognitioncited by 3
  10. 2025HOTFLoc++: End-to-End Hierarchical LiDAR Place Recognition, Re-Ranking, and 6-DoF Metric Localisation in Forestscited by 3
  11. 2023Pose-Graph Attentional Graph Neural Network for Lidar Place Recognitioncited by 2
  12. 2024SOLVR: Submap Oriented LiDAR-Visual Re-Localisationcited by 2
13 more
  1. 2025REGRACE: A Robust and Efficient Graph-based Re-localization Algorithm using Consistency Evaluationcited by 2
  2. 2025Vehicle-Scene Interaction: A Text-Driven 3D Lidar Place Recognition Method for Autonomous Drivingcited by 2
  3. 2025UniMPR: A Unified Framework for Multimodal Place Recognition with Heterogeneous Sensor Configurationscited by 2
  4. 2022DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognitioncited by 1
  5. 2023VNI-Net: Vector Neurons-based Rotation-Invariant Descriptor for LiDAR Place Recognitioncited by 1
  6. 2024Reliable-loc: Robust sequential LiDAR global localization in large-scale street scenes based on verifiable cuescited by 1
  7. 2026TreeLoc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matchingcited by 1
  8. 2026BEV-SLD: Self-Supervised Scene Landmark Detection for Global Localization with LiDAR Bird's-Eye View Imagescited by 1
  9. 2024A Deeper Look into Second-Order Feature Aggregation for LiDAR Place Recognitioncited by 0
  10. 2025S-BEVLoc: BEV-based Self-supervised Framework for Large-scale LiDAR Global Localizationcited by 0
  11. 2026WHU-PCPR: A cross-platform heterogeneous point cloud dataset for place recognition in complex urban scenescited by 0
  12. 2026SOAR: Regression-based LiDAR Relocalization for UAVscited by 0
  13. 2026M3GA-Wild: A Large-Scale Dataset and Benchmark for Multi-Modal Multi-session Ground-to-Aerial Place Recognition in Forestscited by 0