mlsanityData to 14 Oct 2026

A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems

arXiv 2302.07433 ↗First posted 15 Feb 2023cs.ROcited by 40

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Abstract (arXiv)

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot localization and mapping. This article aims to provide an overview of recent progress and advancements in LiDAR-based global localization. We begin by formulating the problem and exploring the application scope. We then present a review of the methodology, including recent advancements in several topics, such as maps, descriptor extraction, and cross-robot localization. The contents of the article are organized under three themes. The first theme concerns the combination of global place retrieval and local pose estimation. The second theme is upgrading single-shot measurements to sequential ones for sequential global localization. Finally, the third theme focuses on extending single-robot global localization to cross-robot localization in multi-robot systems. We conclude the survey with a discussion of open challenges and promising directions in global LiDAR localization. To our best knowledge, this is the first comprehensive survey on global LiDAR localization for mobile robots.

Key facts. Cited by 40 papers in the map (data through 14 Oct 2026). First posted on arXiv 15 Feb 2023.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 2; 2024: 12; 2025: 14; 2026: 12.

40 papers.

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  1. 2024Compact 3D Gaussian Splatting For Dense Visual SLAMcited by 25
  2. 2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
  3. 2024KISS-Matcher: Fast and Robust Point Cloud Registration Revisitedcited by 16
  4. 2023G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Modelcited by 11
  5. 2025LightLoc: Learning Outdoor LiDAR Localization at Light Speedcited by 10
  6. 2025BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenescited by 8
  7. 2025HOTFormerLoc: Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Viewscited by 8
  8. 2024RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstructioncited by 6
  9. 2024HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensorscited by 5
  10. 2025Progressive Correspondence Regenerator for Robust 3D Registrationcited by 5
  11. 2024Explicit Interaction for Fusion-Based Place Recognitioncited by 4
  12. 2025A Self-Conditioned Representation Guided Diffusion Model for Realistic Text-to-LiDAR Scene Generationcited by 4
28 more
  1. 2024ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mappingcited by 3
  2. 2025A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAMcited by 2
  3. 2025ResLPR: A LiDAR Data Restoration Network and Benchmark for Robust Place Recognition Against Weather Corruptionscited by 2
  4. 2023Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weightscited by 1
  5. 2024TSCM: A Teacher-Student Model for Vision Place Recognition Using Cross-Metric Knowledge Distillationcited by 1
  6. 2024QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitivescited by 1
  7. 2024A Hyperdimensional One Place Signature to Represent Them All: Stackable Descriptors For Visual Place Recognitioncited by 1
  8. 2025UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentationcited by 1
  9. 2025Ranking-aware Continual Learning for LiDAR Place Recognitioncited by 1
  10. 2025ShelfAware: Real-Time Semantic Localization in Quasi-Static Environments with Low-Cost Sensorscited by 1
  11. 2026Toward Zero-Shot Point Cloud Registration Across Diverse Scales, Scenes, and Sensor Setupscited by 1
  12. 2026TreeLoc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matchingcited by 1
  13. 2026LEADER: Learning Reliable Local-to-Global Correspondences for LiDAR Relocalizationcited by 1
  14. 2024Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithmcited by 0
  15. 2024Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognitioncited by 0
  16. 2025Robust Egoistic Rigid Body Localizationcited by 0
  17. 2025VISTA: Monocular Segmentation-Based Mapping for Appearance and View-Invariant Global Localizationcited by 0
  18. 2025S-BEVLoc: BEV-based Self-supervised Framework for Large-scale LiDAR Global Localizationcited by 0
  19. 2025InterKey: Cross-modal Intersection Keypoints for Global Localization on OpenStreetMapcited by 0
  20. 2026From Single Scan to Sequential Consistency: A New Paradigm for LIDAR Relocalizationcited by 0
  21. 2026SOAR: Regression-based LiDAR Relocalization for UAVscited by 0
  22. 2026VIRD: View-Invariant Representation through Dual-Axis Transformation for Cross-View Pose Estimationcited by 0
  23. 2026VLM-GLoc: Vision-Language Model Enhanced Monte Carlo Localization for Robust Semantic Global Localization in Cluttered Quasi-Static Environmentscited by 0
  24. 2026G2IA: Geometry-Guided Instance-Aware Retrieval and Refinement for Cross-Modal Place Recognitioncited by 0
  25. 2026Learning 1-Bit LiDAR-based Localization with Auxiliary Objectivecited by 0
  26. 2026PROBE-X: Learning-Free Cross-FOV Place Recognitioncited by 0
  27. 2026LightLoc++: Sensor-Robust Representation Learning for Efficient Outdoor LiDAR Localizationcited by 0
  28. 2026ReLoc: Rethinking Scene Coordinate Regression Architecture for Robust Outdoor LiDAR-based Localizationcited by 0