mlsanityData to 14 Oct 2026

Single-Shot Global Localization via Graph-Theoretic Correspondence Matching

arXiv 2306.03641 ↗First posted 6 Jun 2023cs.RO cs.CVcited by 0

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Abstract (arXiv)

This paper describes a method of global localization based on graph-theoretic association of instances between a query and the prior map. The proposed framework employs correspondence matching based on the maximum clique problem (MCP). The framework is potentially applicable to other map and/or query modalities thanks to the graph-based abstraction of the problem, while many of existing global localization methods rely on a query and the dataset in the same modality. We implement it with a semantically labeled 3D point cloud map, and a semantic segmentation image as a query. Leveraging the graph-theoretic framework, the proposed method realizes global localization exploiting only the map and the query. The method shows promising results on multiple large-scale simulated maps of urban scenes.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 34 of its 57 references that are in the map. First posted on arXiv 6 Jun 2023.

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34 of 57 references.

References · 34

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22 more
  1. 2021DeepI2P: Image-to-Point Cloud Registration via Deep Classificationcited by 59
  2. 2017Semantic Visual Localizationcited by 54
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  6. 2021P2-Net: Joint Description and Detection of Local Features for Pixel and Point Matchingcited by 42
  7. 2023General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolboxcited by 41
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  11. 2020CLIPPER: A Graph-Theoretic Framework for Robust Data Associationcited by 28
  12. 2021Paris-CARLA-3D: A Real and Synthetic Outdoor Point Cloud Dataset for Challenging Tasks in 3D Mappingcited by 25
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  15. 2020Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environmentcited by 17
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  17. 2022BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAMcited by 13
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  19. 2021SemSegMap- 3D Segment-Based Semantic Localizationcited by 10
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  21. 2022Semantic Pose Verification for Outdoor Visual Localization with Self-supervised Contrastive Learningcited by 5
  22. 2022Scalable Fiducial Tag Localization on a 3D Prior Map via Graph-Theoretic Global Tag-Map Registrationcited by 3

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