# Reliable-loc: Robust sequential LiDAR global localization in large-scale street scenes based on verifiable cues

arXiv: https://arxiv.org/abs/2411.07815 · HTML: https://mlsanity.com/paper/2411.07815/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 66 references that are in the map.
- First posted on arXiv 9 Nov 2024.

## Builds on (most cited first, 22 of 22)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [Self-supervised Visual Feature Learning with Deep Neural Networks: A Survey](https://mlsanity.com/paper/1902.06162/) (2019)
- [PointContrast: Unsupervised Pre-training for 3D Point Cloud Understanding](https://mlsanity.com/paper/2007.10985/) (2020)
- [TEASER: Fast and Certifiable Point Cloud Registration](https://mlsanity.com/paper/2001.07715/) (2020)
- [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)
- [LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM](https://mlsanity.com/paper/2103.05056/) (2021)
- [DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization](https://mlsanity.com/paper/2007.09217/) (2020)
- [Tightly Coupled 3D Lidar Inertial Odometry and Mapping](https://mlsanity.com/paper/1904.06993/) (2019)
- [EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale](https://mlsanity.com/paper/2110.12486/) (2021)
- [Spatiotemporal Self-supervised Learning for Point Clouds in the Wild](https://mlsanity.com/paper/2303.16235/) (2023)
- [InCloud: Incremental Learning for Point Cloud Place Recognition](https://mlsanity.com/paper/2203.00807/) (2022)
- [Spectral Geometric Verification: Re-Ranking Point Cloud Retrieval for Metric Localization](https://mlsanity.com/paper/2210.04432/) (2022)
- [SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data](https://mlsanity.com/paper/2209.07951/) (2022)
- [BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognition](https://mlsanity.com/paper/2208.14543/) (2022)
- [Learning an Overlap-based Observation Model for 3D LiDAR Localization](https://mlsanity.com/paper/2105.11717/) (2021)
- [HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System](https://mlsanity.com/paper/2403.14173/) (2024)
- [Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments](https://mlsanity.com/paper/2003.01875/) (2020)
- [Pose-Graph Attentional Graph Neural Network for Lidar Place Recognition](https://mlsanity.com/paper/2309.00168/) (2023)
- [Enhance Accuracy: Sensitivity and Uncertainty Theory in LiDAR Odometry and Mapping](https://mlsanity.com/paper/2111.07723/) (2021)

## Built on by (most cited first, 1 of 1)

- [Aerial-ground LiDAR place recognition with patch-level self-supervised learning and expanded reciprocal re-ranking](https://mlsanity.com/paper/2606.18583/) (2026)

## Abstract (arXiv)

Wearable laser scanning (WLS) system has the advantages of flexibility and portability. It can be used for determining the user's path within a prior map, which is a huge demand for applications in pedestrian navigation, collaborative mapping, augmented reality, and emergency rescue. However, existing LiDAR-based global localization methods suffer from insufficient robustness, especially in complex large-scale outdoor scenes with insufficient features and incomplete coverage of the prior map. To address such challenges, we propose LiDAR-based reliable global localization (Reliable-loc) exploiting the verifiable cues in the sequential LiDAR data. First, we propose a Monte Carlo Localization (MCL) based on spatially verifiable cues, utilizing the rich information embedded in local features to adjust the particles' weights hence avoiding the particles converging to erroneous regions. Second, we propose a localization status monitoring mechanism guided by the sequential pose uncertainties and adaptively switching the localization mode using the temporal verifiable cues to avoid the crash of the localization system. To validate the proposed Reliable-loc, comprehensive experiments have been conducted on a large-scale heterogeneous point cloud dataset consisting of high-precision vehicle-mounted mobile laser scanning (MLS) point clouds and helmet-mounted WLS point clouds, which cover various street scenes with a length of over 30 km. The experimental results indicate that Reliable-loc exhibits high robustness, accuracy, and efficiency in large-scale, complex street scenes, with a position accuracy of 2.91 m, yaw accuracy of 3.74 degrees, and achieves real-time performance. For the code and detailed experimental results, please refer to https://github.com/zouxianghong/Reliable-loc.