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ResearchFormerly WizWand

LiDAR Place Recognition on Garden LT

98.4Top-1 RecallUniLGL
38.423253.994169.56585.1359Jul 16, 2025
Updated 7mo ago

Evaluation results

MethodLinks
UniLGLSequence=Garden_LT_01, Supervision=IoU-based2025.0798.487.89
UniLGLSequence=Garden_LT_02, Supervision=IoU-based2025.0798.0687.85
UniLGLSequence=Average, Supervision=IoU-based2025.0797.1486.44
UniLGLSequence=Garden_LT_04, Supervision=IoU-based2025.0797.0386.69
UniLGLSequence=Garden_LT_03, Supervision=IoU-based2025.0795.0883.31
UniLGL Dis. Sup.Sequence=Garden_LT_01, Supervision=Distance Supervision2025.0794.7681.2
UniLGL w/o IntensitySequence=Garden_LT_04, Supervision=IoU-based2025.0794.686.45
UniLGL w/o IntensitySequence=Garden_LT_03, Supervision=IoU-based2025.0794.4479.91
UniLGL Dis. Sup.Sequence=Garden_LT_04, Supervision=Distance Supervision2025.0792.6182.24
UniLGL w/o SpatialSequence=Garden_LT_04, Supervision=IoU-based2025.0791.6481.17
UniLGL Dis. Sup.Sequence=Average, Supervision=Distance Supervision2025.0790.9781.43
UniLGL w/o SpatialSequence=Garden_LT_03, Supervision=IoU-based2025.0790.1980.34
UniLGL w/o IntensitySequence=Average, Supervision=IoU-based2025.0789.8580.9
UniLGL Dis. Sup.Sequence=Garden_LT_03, Supervision=Distance Supervision2025.0789.281.52
UniLGL w/o SpatialSequence=Average, Supervision=IoU-based2025.0789.0180.85
UniLGL w/o SpatialSequence=Garden_LT_01, Supervision=IoU-based2025.0787.6882.31
UniLGL w/o IntensitySequence=Garden_LT_01, Supervision=IoU-based2025.0787.379.01
UniLGL Dis. Sup.Sequence=Garden_LT_02, Supervision=Distance Supervision2025.0787.380.75
UniLGL w/o SpatialSequence=Garden_LT_02, Supervision=IoU-based2025.0786.5479.57
RING++Sequence=Garden_LT_01, Supervision=IoU-based2025.0786.139.3
UniLGL w/o Loc. Feat.Sequence=Garden_LT_04, Supervision=IoU-based2025.0785.3673.77
UniLGL w/o Loc. Feat.Sequence=Garden_LT_03, Supervision=IoU-based2025.0784.9477.6
BEVPlace++ Dis. Sup.Sequence=Garden_LT_04, Supervision=Distance Supervision2025.0784.861.57
UniLGL w/o IntensitySequence=Garden_LT_02, Supervision=IoU-based2025.0782.9878.21
UniLGL w/o Loc. Feat.Sequence=Average, Supervision=IoU-based2025.0779.1469.25
BEVPlace++ Dis. Sup.Sequence=Garden_LT_03, Supervision=Distance Supervision2025.0778.7347.56
BEVPlace++ Dis. Sup.Sequence=Average, Supervision=Distance Supervision2025.0778.2644.57
BEVPlace++ Dis. Sup.Sequence=Garden_LT_01, Supervision=Distance Supervision2025.0776.1835.97
UniLGL w/o Loc. Feat.Sequence=Garden_LT_01, Supervision=IoU-based2025.0775.3564.21
BEVPlace++Sequence=Garden_LT_01, Supervision=IoU-based2025.0774.463.33
RING++Sequence=Garden_LT_04, Supervision=IoU-based2025.0773.5531.12
BEVPlace++ Dis. Sup.Sequence=Garden_LT_02, Supervision=Distance Supervision2025.0773.3333.17
RING++Sequence=Average, Supervision=IoU-based2025.0773.0833.11
UniLGL w/o Loc. Feat.Sequence=Garden_LT_02, Supervision=IoU-based2025.0770.8961.41
RING++Sequence=Garden_LT_02, Supervision=IoU-based2025.0770.7933.74
BEVPlace++Sequence=Average, Supervision=IoU-based2025.0770.3257.26
BEVPlace++Sequence=Garden_LT_02, Supervision=IoU-based2025.0770.0964.41
BEVPlace++Sequence=Garden_LT_04, Supervision=IoU-based2025.0769.2455
BEVPlace++Sequence=Garden_LT_03, Supervision=IoU-based2025.0767.5546.29
UniLGL w/o FMSequence=Garden_LT_03, Supervision=IoU-based2025.0765.9451.37
UniLGL w/o FMSequence=Garden_LT_04, Supervision=IoU-based2025.0762.2153.84
RING++Sequence=Garden_LT_03, Supervision=IoU-based2025.0761.8828.28
UniLGL w/o FMSequence=Average, Supervision=IoU-based2025.0758.248.91
Logg3D-NetSequence=Garden_LT_03, Supervision=IoU-based2025.0753.743.79
Logg3D-NetSequence=Garden_LT_02, Supervision=IoU-based2025.0753.2336.09
UniLGL w/o FMSequence=Garden_LT_02, Supervision=IoU-based2025.0753.2143.25
UniLGL w/o FMSequence=Garden_LT_01, Supervision=IoU-based2025.0751.4247.16
Logg3D-NetSequence=Average, Supervision=IoU-based2025.0749.1639.65
Logg3D-NetSequence=Garden_LT_01, Supervision=IoU-based2025.0748.9639.26
Logg3D-NetSequence=Garden_LT_04, Supervision=IoU-based2025.0740.7339.47