# Learning 1-Bit LiDAR-based Localization with Auxiliary Objective

arXiv: https://arxiv.org/abs/2606.27729 · HTML: https://mlsanity.com/paper/2606.27729/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 58 of its 79 references that are in the map.
- First posted on arXiv 26 Jun 2026.

## Builds on (most cited first, 30 of 58)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Training data-efficient image transformers & distillation through attention](https://mlsanity.com/paper/2012.12877/) (2020)
- [Going Deeper with Convolutions](https://mlsanity.com/paper/1409.4842/) (2014)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Sinkhorn Distances: Lightspeed Computation of Optimal Transportation Distances](https://mlsanity.com/paper/1306.0895/) (2013)
- [Estimating or Propagating Gradients Through Stochastic Neurons for Conditional Computation](https://mlsanity.com/paper/1308.3432/) (2013)
- [Quantization and Training of Neural Networks for Efficient Integer-Arithmetic-Only Inference](https://mlsanity.com/paper/1712.05877/) (2017)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [XNOR-Net: ImageNet Classification Using Binary Convolutional Neural Networks](https://mlsanity.com/paper/1603.05279/) (2016)
- [Deep Learning and the Information Bottleneck Principle](https://mlsanity.com/paper/1503.02406/) (2015)
- [Channel Pruning for Accelerating Very Deep Neural Networks](https://mlsanity.com/paper/1707.06168/) (2017)
- [Opening the Black Box of Deep Neural Networks via Information](https://mlsanity.com/paper/1703.00810/) (2017)
- [Be Your Own Teacher: Improve the Performance of Convolutional Neural Networks via Self Distillation](https://mlsanity.com/paper/1905.08094/) (2019)
- [On the Efficacy of Knowledge Distillation](https://mlsanity.com/paper/1910.01348/) (2019)
- [Deep Closest Point: Learning Representations for Point Cloud Registration](https://mlsanity.com/paper/1905.03304/) (2019)
- [DSAC - Differentiable RANSAC for Camera Localization](https://mlsanity.com/paper/1611.05705/) (2016)
- [cuDNN: Efficient Primitives for Deep Learning](https://mlsanity.com/paper/1410.0759/) (2014)
- [Bi-Real Net: Enhancing the Performance of 1-bit CNNs With Improved Representational Capability and Advanced Training Algorithm](https://mlsanity.com/paper/1808.00278/) (2018)
- [Geometric Loss Functions for Camera Pose Regression with Deep Learning](https://mlsanity.com/paper/1704.00390/) (2017)
- [PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition](https://mlsanity.com/paper/1804.03492/) (2018)
- [ReActNet: Towards Precise Binary Neural Network with Generalized Activation Functions](https://mlsanity.com/paper/2003.03488/) (2020)
- [Forward and Backward Information Retention for Accurate Binary Neural Networks](https://mlsanity.com/paper/1909.10788/) (2019)
- [PoseDiffusion: Solving Pose Estimation via Diffusion-aided Bundle Adjustment](https://mlsanity.com/paper/2306.15667/) (2023)
- [The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset](https://mlsanity.com/paper/1909.01300/) (2019)
- [LENS: Localization enhanced by NeRF synthesis](https://mlsanity.com/paper/2110.06558/) (2021)
- [MinkLoc3D: Point Cloud Based Large-Scale Place Recognition](https://mlsanity.com/paper/2011.04530/) (2020)
- [Accelerated Coordinate Encoding: Learning to Relocalize in Minutes using RGB and Poses](https://mlsanity.com/paper/2305.14059/) (2023)

## Abstract (arXiv)

6-DoF LiDAR-based localization is a fundamental capability for autonomous systems operating in large-scale outdoor environments. Many deep-learning-based localization methods have achieved promising performance so far. However, as one of the always-on modules competing for limited on-board computational resources, the localization module is expected to consume only a small portion of the overall compute budget. Most existing learning-based methods are still too heavy for this purpose. In contrast, binary neural networks (BNNs) offer an appealing solution, but the 1-bit compression causes severe information loss and performance drop. In this paper, we address this challenge by proposing Binarized LiDAR-based Localization (BiLoc), the first binary neural network framework for 6-DoF LiDAR localization. Specifically, we reinterpret the training of BNNs from the perspective of the information-bottleneck principle, aiming at retaining minimal yet sufficient representations for pose estimation while suppressing redundant variations. And we introduce an auxiliary objective that adaptively regulates information retention in the binary encoder, effectively mitigating the information loss caused by binarization. This auxiliary objective provides additional optimization signals that compensate for the limited representational capacity and the gradient mismatch inherent in BNNs. Extensive experiments on large-scale outdoor LiDAR datasets demonstrate that BiLoc establishes a new state of the art for LiDAR localization with BNNs.