mlsanityData to 7 Oct 2026

PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps

arXiv 2506.15849 ↗First posted 18 Jun 2025cs.RO cs.CVcited by 0

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Abstract (arXiv)

We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans. The method is designed for resource-constrained platforms and emphasizes real-time performance and resilience to common urban sensing challenges. It provides accurate localization in compact topological maps using global place recognition and an original scan matching technique. Experiments on standard benchmarks and on an embedded platform demonstrate the effectiveness of our approach. Our method achieves a 99% success rate on the large-scale ITLP-Campus dataset while running at 150 ms per localization and using a 20 MB map for localization. We highlight three main contributions: (1) a compact representation for city-scale localization; (2) a novel curb detection and scan matching pipeline operating directly on raw LiDAR points; (3) a thorough evaluation of our method with performance analysis.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 20 of its 34 references that are in the map. First posted on arXiv 18 Jun 2025.

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20 of 34 references.

References · 20

  1. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  2. 2018PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognitioncited by 197
  3. 2022Rethinking Visual Geo-localization for Large-Scale Applicationscited by 160
  4. 2023MixVPR: Feature Mixing for Visual Place Recognitioncited by 160
  5. 2019The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Datasetcited by 133
  6. 2020MinkLoc3D: Point Cloud Based Large-Scale Place Recognitioncited by 114
  7. 2024RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operationcited by 62
  8. 2022Improving Point Cloud Based Place Recognition with Ranking-based Loss and Large Batch Trainingcited by 44
  9. 2021MinkLoc++: Lidar and Monocular Image Fusion for Place Recognitioncited by 41
  10. 2021SVT-Net: Super Light-Weight Sparse Voxel Transformer for Large Scale Place Recognitioncited by 36
  11. 2021Direct LiDAR Odometry: Fast Localization with Dense Point Cloudscited by 29
  12. 2020Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submapscited by 26
8 more
  1. 2021BVMatch: Lidar-based Place Recognition Using Bird's-eye View Imagescited by 25
  2. 2024BEVPlace++: Fast, Robust, and Lightweight LiDAR Global Localization for Unmanned Ground Vehiclescited by 19
  3. 2022BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAMcited by 13
  4. 2021Lifelong Topological Visual Navigationcited by 7
  5. 2024GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factorscited by 7
  6. 2024MSSPlace: Multi-Sensor Place Recognition with Visual and Text Semanticscited by 7
  7. 2022Evaluation of RGB-D SLAM in Large Indoor Environmentscited by 4
  8. 2024PRISM-TopoMap: Online Topological Mapping with Place Recognition and Scan Matchingcited by 2

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