LiDAR Place Recognition on Garden LT
98.4Top-1 RecallUniLGL
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| UniLGLSequence=Garden_LT_01, Supervision=IoU-based2025.07 | 98.4 | 87.89 | |
| UniLGLSequence=Garden_LT_02, Supervision=IoU-based2025.07 | 98.06 | 87.85 | |
| UniLGLSequence=Average, Supervision=IoU-based2025.07 | 97.14 | 86.44 | |
| UniLGLSequence=Garden_LT_04, Supervision=IoU-based2025.07 | 97.03 | 86.69 | |
| UniLGLSequence=Garden_LT_03, Supervision=IoU-based2025.07 | 95.08 | 83.31 | |
| UniLGL Dis. Sup.Sequence=Garden_LT_01, Supervision=Distance Supervision2025.07 | 94.76 | 81.2 | |
| UniLGL w/o IntensitySequence=Garden_LT_04, Supervision=IoU-based2025.07 | 94.6 | 86.45 | |
| UniLGL w/o IntensitySequence=Garden_LT_03, Supervision=IoU-based2025.07 | 94.44 | 79.91 | |
| UniLGL Dis. Sup.Sequence=Garden_LT_04, Supervision=Distance Supervision2025.07 | 92.61 | 82.24 | |
| UniLGL w/o SpatialSequence=Garden_LT_04, Supervision=IoU-based2025.07 | 91.64 | 81.17 | |
| UniLGL Dis. Sup.Sequence=Average, Supervision=Distance Supervision2025.07 | 90.97 | 81.43 | |
| UniLGL w/o SpatialSequence=Garden_LT_03, Supervision=IoU-based2025.07 | 90.19 | 80.34 | |
| UniLGL w/o IntensitySequence=Average, Supervision=IoU-based2025.07 | 89.85 | 80.9 | |
| UniLGL Dis. Sup.Sequence=Garden_LT_03, Supervision=Distance Supervision2025.07 | 89.2 | 81.52 | |
| UniLGL w/o SpatialSequence=Average, Supervision=IoU-based2025.07 | 89.01 | 80.85 | |
| UniLGL w/o SpatialSequence=Garden_LT_01, Supervision=IoU-based2025.07 | 87.68 | 82.31 | |
| UniLGL w/o IntensitySequence=Garden_LT_01, Supervision=IoU-based2025.07 | 87.3 | 79.01 | |
| UniLGL Dis. Sup.Sequence=Garden_LT_02, Supervision=Distance Supervision2025.07 | 87.3 | 80.75 | |
| UniLGL w/o SpatialSequence=Garden_LT_02, Supervision=IoU-based2025.07 | 86.54 | 79.57 | |
| RING++Sequence=Garden_LT_01, Supervision=IoU-based2025.07 | 86.1 | 39.3 | |
| UniLGL w/o Loc. Feat.Sequence=Garden_LT_04, Supervision=IoU-based2025.07 | 85.36 | 73.77 | |
| UniLGL w/o Loc. Feat.Sequence=Garden_LT_03, Supervision=IoU-based2025.07 | 84.94 | 77.6 | |
| BEVPlace++ Dis. Sup.Sequence=Garden_LT_04, Supervision=Distance Supervision2025.07 | 84.8 | 61.57 | |
| UniLGL w/o IntensitySequence=Garden_LT_02, Supervision=IoU-based2025.07 | 82.98 | 78.21 | |
| UniLGL w/o Loc. Feat.Sequence=Average, Supervision=IoU-based2025.07 | 79.14 | 69.25 | |
| BEVPlace++ Dis. Sup.Sequence=Garden_LT_03, Supervision=Distance Supervision2025.07 | 78.73 | 47.56 | |
| BEVPlace++ Dis. Sup.Sequence=Average, Supervision=Distance Supervision2025.07 | 78.26 | 44.57 | |
| BEVPlace++ Dis. Sup.Sequence=Garden_LT_01, Supervision=Distance Supervision2025.07 | 76.18 | 35.97 | |
| UniLGL w/o Loc. Feat.Sequence=Garden_LT_01, Supervision=IoU-based2025.07 | 75.35 | 64.21 | |
| BEVPlace++Sequence=Garden_LT_01, Supervision=IoU-based2025.07 | 74.4 | 63.33 | |
| RING++Sequence=Garden_LT_04, Supervision=IoU-based2025.07 | 73.55 | 31.12 | |
| BEVPlace++ Dis. Sup.Sequence=Garden_LT_02, Supervision=Distance Supervision2025.07 | 73.33 | 33.17 | |
| RING++Sequence=Average, Supervision=IoU-based2025.07 | 73.08 | 33.11 | |
| UniLGL w/o Loc. Feat.Sequence=Garden_LT_02, Supervision=IoU-based2025.07 | 70.89 | 61.41 | |
| RING++Sequence=Garden_LT_02, Supervision=IoU-based2025.07 | 70.79 | 33.74 | |
| BEVPlace++Sequence=Average, Supervision=IoU-based2025.07 | 70.32 | 57.26 | |
| BEVPlace++Sequence=Garden_LT_02, Supervision=IoU-based2025.07 | 70.09 | 64.41 | |
| BEVPlace++Sequence=Garden_LT_04, Supervision=IoU-based2025.07 | 69.24 | 55 | |
| BEVPlace++Sequence=Garden_LT_03, Supervision=IoU-based2025.07 | 67.55 | 46.29 | |
| UniLGL w/o FMSequence=Garden_LT_03, Supervision=IoU-based2025.07 | 65.94 | 51.37 | |
| UniLGL w/o FMSequence=Garden_LT_04, Supervision=IoU-based2025.07 | 62.21 | 53.84 | |
| RING++Sequence=Garden_LT_03, Supervision=IoU-based2025.07 | 61.88 | 28.28 | |
| UniLGL w/o FMSequence=Average, Supervision=IoU-based2025.07 | 58.2 | 48.91 | |
| Logg3D-NetSequence=Garden_LT_03, Supervision=IoU-based2025.07 | 53.7 | 43.79 | |
| Logg3D-NetSequence=Garden_LT_02, Supervision=IoU-based2025.07 | 53.23 | 36.09 | |
| UniLGL w/o FMSequence=Garden_LT_02, Supervision=IoU-based2025.07 | 53.21 | 43.25 | |
| UniLGL w/o FMSequence=Garden_LT_01, Supervision=IoU-based2025.07 | 51.42 | 47.16 | |
| Logg3D-NetSequence=Average, Supervision=IoU-based2025.07 | 49.16 | 39.65 | |
| Logg3D-NetSequence=Garden_LT_01, Supervision=IoU-based2025.07 | 48.96 | 39.26 | |
| Logg3D-NetSequence=Garden_LT_04, Supervision=IoU-based2025.07 | 40.73 | 39.47 |