# BEV-SLD: Self-Supervised Scene Landmark Detection for Global Localization with LiDAR Bird's-Eye View Images

arXiv: https://arxiv.org/abs/2603.17159 · HTML: https://mlsanity.com/paper/2603.17159/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 40 references that are in the map.
- First posted on arXiv 17 Mar 2026.

## Builds on (most cited first, 21 of 21)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [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)
- [Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments](https://mlsanity.com/paper/2109.13494/) (2021)
- [OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for LiDAR-Based Place Recognition](https://mlsanity.com/paper/2203.03397/) (2022)
- [LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM](https://mlsanity.com/paper/2103.05056/) (2021)
- [LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition](https://mlsanity.com/paper/2109.08336/) (2021)
- [Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling](https://mlsanity.com/paper/2011.14497/) (2020)
- [CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure](https://mlsanity.com/paper/2109.12979/) (2021)
- [EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale](https://mlsanity.com/paper/2110.12486/) (2021)
- [Feature Pyramid Network for Multi-Class Land Segmentation](https://mlsanity.com/paper/1806.03510/) (2018)
- [HypLiLoc: Towards Effective LiDAR Pose Regression with Hyperbolic Fusion](https://mlsanity.com/paper/2304.00932/) (2023)
- [MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception](https://mlsanity.com/paper/2403.11496/) (2024)
- [KISS-Matcher: Fast and Robust Point Cloud Registration Revisited](https://mlsanity.com/paper/2409.15615/) (2024)
- [Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM](https://mlsanity.com/paper/2309.08086/) (2023)
- [LightLoc: Learning Outdoor LiDAR Localization at Light Speed](https://mlsanity.com/paper/2503.17814/) (2025)
- [3D-BBS: Global Localization for 3D Point Cloud Scan Matching Using Branch-and-Bound Algorithm](https://mlsanity.com/paper/2310.10023/) (2023)
- [Improved Scene Landmark Detection for Camera Localization](https://mlsanity.com/paper/2401.18083/) (2024)
- [DMSA -- Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization](https://mlsanity.com/paper/2402.19044/) (2024)

## 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)

We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific patterns at a prescribed spatial density and treat them as landmarks. A consistency loss aligns learnable global landmark coordinates with per-frame heatmaps, yielding consistent landmark detections across the scene. Across campus, industrial, and forest environments, BEV-SLD delivers robust localization and achieves strong performance compared to state-of-the-art methods.