# OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition

arXiv: https://arxiv.org/abs/2405.07966 · HTML: https://mlsanity.com/paper/2405.07966/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 31 references that are in the map.
- First posted on arXiv 13 May 2024.

## Builds on (most cited first, 17 of 17)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [Spatial Pyramid Pooling in Deep Convolutional Networks for Visual Recognition](https://mlsanity.com/paper/1406.4729/) (2014)
- [VM-UNet: Vision Mamba UNet for Medical Image Segmentation](https://mlsanity.com/paper/2402.02491/) (2024)
- [PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition](https://mlsanity.com/paper/1804.03492/) (2018)
- [MinkLoc3D: Point Cloud Based Large-Scale Place Recognition](https://mlsanity.com/paper/2011.04530/) (2020)
- [OverlapNet: Loop Closing for LiDAR-based SLAM](https://mlsanity.com/paper/2105.11344/) (2021)
- [OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for LiDAR-Based Place Recognition](https://mlsanity.com/paper/2203.03397/) (2022)
- [LiDAR Iris for Loop-Closure Detection](https://mlsanity.com/paper/1912.03825/) (2019)
- [NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation](https://mlsanity.com/paper/2103.12292/) (2021)
- [RangeRCNN: Towards Fast and Accurate 3D Object Detection with Range Image Representation](https://mlsanity.com/paper/2009.00206/) (2020)
- [SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data](https://mlsanity.com/paper/2209.07951/) (2022)
- [CVTNet: A Cross-View Transformer Network for Place Recognition Using LiDAR Data](https://mlsanity.com/paper/2302.01665/) (2023)

## Built on by (most cited first, 2 of 2)

- [Mamba in Vision: A Comprehensive Survey of Techniques and Applications](https://mlsanity.com/paper/2410.03105/) (2024)
- [A Pseudo Global Fusion Paradigm-Based Cross-View Network for LiDAR-Based Place Recognition](https://mlsanity.com/paper/2508.08917/) (2025)

## Abstract (arXiv)

Place recognition is the foundation for enabling autonomous systems to achieve independent decision-making and safe operations. It is also crucial in tasks such as loop closure detection and global localization within SLAM. Previous methods utilize mundane point cloud representations as input and deep learning-based LiDAR-based Place Recognition (LPR) approaches employing different point cloud image inputs with convolutional neural networks (CNNs) or transformer architectures. However, the recently proposed Mamba deep learning model, combined with state space models (SSMs), holds great potential for long sequence modeling. Therefore, we developed OverlapMamba, a novel network for place recognition, which represents input range views (RVs) as sequences. In a novel way, we employ a stochastic reconstruction approach to build shift state space models, compressing the visual representation. Evaluated on three different public datasets, our method effectively detects loop closures, showing robustness even when traversing previously visited locations from different directions. Relying on raw range view inputs, it outperforms typical LiDAR and multi-view combination methods in time complexity and speed, indicating strong place recognition capabilities and real-time efficiency.