# LifelongPR: Lifelong point cloud place recognition based on sample replay and prompt learning

arXiv: https://arxiv.org/abs/2507.10034 · HTML: https://mlsanity.com/paper/2507.10034/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 67 references that are in the map.
- First posted on arXiv 14 Jul 2025.

## Builds on (most cited first, 30 of 40)

- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Parameter-Efficient Transfer Learning for NLP](https://mlsanity.com/paper/1902.00751/) (2019)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Pre-train, Prompt, and Predict: A Systematic Survey of Prompting Methods in Natural Language Processing](https://mlsanity.com/paper/2107.13586/) (2021)
- [Continual Learning with Deep Generative Replay](https://mlsanity.com/paper/1705.08690/) (2017)
- [Learning to Prompt for Continual Learning](https://mlsanity.com/paper/2112.08654/) (2021)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [PackNet: Adding Multiple Tasks to a Single Network by Iterative Pruning](https://mlsanity.com/paper/1711.05769/) (2017)
- [A Comprehensive Survey of Continual Learning: Theory, Method and Application](https://mlsanity.com/paper/2302.00487/) (2023)
- [Domain Generalization: A Survey](https://mlsanity.com/paper/2103.02503/) (2021)
- [Large Scale Incremental Learning](https://mlsanity.com/paper/1905.13260/) (2019)
- [Self-supervised Learning: Generative or Contrastive](https://mlsanity.com/paper/2006.08218/) (2020)
- [Overcoming catastrophic forgetting with hard attention to the task](https://mlsanity.com/paper/1801.01423/) (2018)
- [DualPrompt: Complementary Prompting for Rehearsal-free Continual Learning](https://mlsanity.com/paper/2204.04799/) (2022)
- [ECA-Net: Efficient Channel Attention for Deep Convolutional Neural Networks](https://mlsanity.com/paper/1910.03151/) (2019)
- [A Survey of Autonomous Driving: Common Practices and Emerging Technologies](https://mlsanity.com/paper/1906.05113/) (2019)
- [Expert Gate: Lifelong Learning with a Network of Experts](https://mlsanity.com/paper/1611.06194/) (2016)
- [PathNet: Evolution Channels Gradient Descent in Super Neural Networks](https://mlsanity.com/paper/1701.08734/) (2017)
- [GRAD-MATCH: Gradient Matching based Data Subset Selection for Efficient Deep Model Training](https://mlsanity.com/paper/2103.00123/) (2021)
- [S-Prompts Learning with Pre-trained Transformers: An Occam's Razor for Domain Incremental Learning](https://mlsanity.com/paper/2207.12819/) (2022)
- [PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition](https://mlsanity.com/paper/1804.03492/) (2018)
- [Continual Learning with Pre-Trained Models: A Survey](https://mlsanity.com/paper/2401.16386/) (2024)
- [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)
- [PRISM: A Rich Class of Parameterized Submodular Information Measures for Guided Subset Selection](https://mlsanity.com/paper/2103.00128/) (2021)
- [Improving Point Cloud Based Place Recognition with Ranking-based Loss and Large Batch Training](https://mlsanity.com/paper/2203.00972/) (2022)

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

- [Learning from Mistakes: Loss-Aware Memory Enhanced Continual Learning for LiDAR Place Recognition](https://mlsanity.com/paper/2511.15597/) (2025)
- [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)

Point cloud place recognition (PCPR) determines the geo-location within a prebuilt map and plays a crucial role in geoscience and robotics applications such as autonomous driving, intelligent transportation, and augmented reality. In real-world large-scale deployments of a geographic positioning system, PCPR models must continuously acquire, update, and accumulate knowledge to adapt to diverse and dynamic environments, i.e., the ability known as continual learning (CL). However, existing PCPR models often suffer from catastrophic forgetting, leading to significant performance degradation in previously learned scenes when adapting to new environments or sensor types. This results in poor model scalability, increased maintenance costs, and system deployment difficulties, undermining the practicality of PCPR. To address these issues, we propose LifelongPR, a novel continual learning framework for PCPR, which effectively extracts and fuses knowledge from sequential point cloud data. First, to alleviate the knowledge loss, we propose a replay sample selection method that dynamically allocates sample sizes according to each dataset's information quantity and selects spatially diverse samples for maximal representativeness. Second, to handle domain shifts, we design a prompt learning-based CL framework with a lightweight prompt module and a two-stage training strategy, enabling domain-specific feature adaptation while minimizing forgetting. Comprehensive experiments on large-scale public and self-collected datasets are conducted to validate the effectiveness of the proposed method. Compared with state-of-the-art (SOTA) methods, our method achieves 6.50% improvement in mIR@1, 7.96% improvement in mR@1, and an 8.95% reduction in F. The code and pre-trained models are publicly available at https://github.com/zouxianghong/LifelongPR.