# HypLiLoc: Towards Effective LiDAR Pose Regression with Hyperbolic Fusion

arXiv: https://arxiv.org/abs/2304.00932 · HTML: https://mlsanity.com/paper/2304.00932/

## Key facts

- Cited by 24 papers in the map (data through 14 Oct 2026).
- Builds on 33 of its 48 references that are in the map.
- First posted on arXiv 3 Apr 2023.

## Builds on (most cited first, 30 of 33)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Poincar'e Embeddings for Learning Hierarchical Representations](https://mlsanity.com/paper/1705.08039/) (2017)
- [VATT: Transformers for Multimodal Self-Supervised Learning from Raw Video, Audio and Text](https://mlsanity.com/paper/2104.11178/) (2021)
- [Hyperbolic Neural Networks](https://mlsanity.com/paper/1805.09112/) (2018)
- [Hyperbolic Graph Convolutional Neural Networks](https://mlsanity.com/paper/1910.12933/) (2019)
- [Deep Closest Point: Learning Representations for Point Cloud Registration](https://mlsanity.com/paper/1905.03304/) (2019)
- [Learning Continuous Hierarchies in the Lorentz Model of Hyperbolic Geometry](https://mlsanity.com/paper/1806.03417/) (2018)
- [PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition](https://mlsanity.com/paper/1804.03492/) (2018)
- [LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping](https://mlsanity.com/paper/2007.00258/) (2020)
- [RPVNet: A Deep and Efficient Range-Point-Voxel Fusion Network for LiDAR Point Cloud Segmentation](https://mlsanity.com/paper/2103.12978/) (2021)
- [2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds](https://mlsanity.com/paper/2207.04397/) (2022)
- [Image-based localization using LSTMs for structured feature correlation](https://mlsanity.com/paper/1611.07890/) (2016)
- [The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset](https://mlsanity.com/paper/1909.01300/) (2019)
- [Hyperbolic Vision Transformers: Combining Improvements in Metric Learning](https://mlsanity.com/paper/2203.10833/) (2022)
- [Learning Multi-Scene Absolute Pose Regression with Transformers](https://mlsanity.com/paper/2103.11468/) (2021)
- [Hyperbolic Image Segmentation](https://mlsanity.com/paper/2203.05898/) (2022)
- [AtLoc: Attention Guided Camera Localization](https://mlsanity.com/paper/1909.03557/) (2019)
- [FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter](https://mlsanity.com/paper/2010.08196/) (2020)
- [Graph Geometry Interaction Learning](https://mlsanity.com/paper/2010.12135/) (2020)
- [F-LOAM: Fast LiDAR Odometry And Mapping](https://mlsanity.com/paper/2107.00822/) (2021)
- [CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure](https://mlsanity.com/paper/2109.12979/) (2021)
- [PointLoc: Deep Pose Regressor for LiDAR Point Cloud Localization](https://mlsanity.com/paper/2003.02392/) (2020)
- [Rethinking the compositionality of point clouds through regularization in the hyperbolic space](https://mlsanity.com/paper/2209.10318/) (2022)
- [RobustLoc: Robust Camera Pose Regression in Challenging Driving Environments](https://mlsanity.com/paper/2211.11238/) (2022)

## Built on by (most cited first, 24 of 24)

- [Hyperbolic Deep Learning in Computer Vision: A Survey](https://mlsanity.com/paper/2305.06611/) (2023)
- [Node Embedding from Neural Hamiltonian Orbits in Graph Neural Networks](https://mlsanity.com/paper/2305.18965/) (2023)
- [LightLoc: Learning Outdoor LiDAR Localization at Light Speed](https://mlsanity.com/paper/2503.17814/) (2025)
- [DistilVPR: Cross-Modal Knowledge Distillation for Visual Place Recognition](https://mlsanity.com/paper/2312.10616/) (2023)
- [Learning Visual Hierarchies in Hyperbolic Space for Image Retrieval](https://mlsanity.com/paper/2411.17490/) (2024)
- [RobustMat: Neural Diffusion for Street Landmark Patch Matching under Challenging Environments](https://mlsanity.com/paper/2311.03904/) (2023)
- [PosDiffNet: Positional Neural Diffusion for Point Cloud Registration in a Large Field of View with Perturbations](https://mlsanity.com/paper/2401.03167/) (2024)
- [FlashMix: Fast Map-Free LiDAR Localization via Feature Mixing and Contrastive-Constrained Accelerated Training](https://mlsanity.com/paper/2410.00702/) (2024)
- [PRFusion: Toward Effective and Robust Multi-Modal Place Recognition with Image and Point Cloud Fusion](https://mlsanity.com/paper/2410.04939/) (2024)
- [BEVDiffLoc: End-to-End LiDAR Global Localization in BEV View based on Diffusion Model](https://mlsanity.com/paper/2503.11372/) (2025)
- [V2VLoc: Robust GNSS-Free Collaborative Perception via LiDAR Localization](https://mlsanity.com/paper/2511.14247/) (2025)
- [BEV-SLD: Self-Supervised Scene Landmark Detection for Global Localization with LiDAR Bird's-Eye View Images](https://mlsanity.com/paper/2603.17159/) (2026)
- [LEADER: Learning Reliable Local-to-Global Correspondences for LiDAR Relocalization](https://mlsanity.com/paper/2604.11355/) (2026)
- [NdLinear: Preserving Multi-Dimensional Structure for Parameter-Efficient Neural Networks](https://mlsanity.com/paper/2503.17353/) (2025)
- [APR-Transformer: Initial Pose Estimation for Localization in Complex Environments through Absolute Pose Regression](https://mlsanity.com/paper/2505.09356/) (2025)
- [ThermalLoc: A Vision Transformer-Based Approach for Robust Thermal Camera Relocalization in Large-Scale Environments](https://mlsanity.com/paper/2506.18268/) (2025)
- [From Single Scan to Sequential Consistency: A New Paradigm for LIDAR Relocalization](https://mlsanity.com/paper/2602.03198/) (2026)
- [SOAR: Regression-based LiDAR Relocalization for UAVs](https://mlsanity.com/paper/2602.13267/) (2026)
- [Curvature-Aware Captioning:Leveraging Geodesic Attention for 3D Scene Understanding](https://mlsanity.com/paper/2605.08808/) (2026)
- [MB-Loc: Multi-planar Bird's-eye-view Localization in outdoor LiDAR scenes](https://mlsanity.com/paper/2606.08744/) (2026)
- [Learning 1-Bit LiDAR-based Localization with Auxiliary Objective](https://mlsanity.com/paper/2606.27729/) (2026)
- [LightLoc++: Sensor-Robust Representation Learning for Efficient Outdoor LiDAR Localization](https://mlsanity.com/paper/2608.15317/) (2026)
- [ReLoc: Rethinking Scene Coordinate Regression Architecture for Robust Outdoor LiDAR-based Localization](https://mlsanity.com/paper/2609.33344/) (2026)
- [Temporal-Aware Fusion for Robust Outdoor LiDAR Localization](https://mlsanity.com/paper/2609.36432/) (2026)

## Abstract (arXiv)

LiDAR relocalization plays a crucial role in many fields, including robotics, autonomous driving, and computer vision. LiDAR-based retrieval from a database typically incurs high computation storage costs and can lead to globally inaccurate pose estimations if the database is too sparse. On the other hand, pose regression methods take images or point clouds as inputs and directly regress global poses in an end-to-end manner. They do not perform database matching and are more computationally efficient than retrieval techniques. We propose HypLiLoc, a new model for LiDAR pose regression. We use two branched backbones to extract 3D features and 2D projection features, respectively. We consider multi-modal feature fusion in both Euclidean and hyperbolic spaces to obtain more effective feature representations. Experimental results indicate that HypLiLoc achieves state-of-the-art performance in both outdoor and indoor datasets. We also conduct extensive ablation studies on the framework design, which demonstrate the effectiveness of multi-modal feature extraction and multi-space embedding. Our code is released at: https://github.com/sijieaaa/HypLiLoc