LiDAR Place Recognition on Garden repetitive scenarios 01-04 (Average)
98.59Recall@Top-1UniLGL
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| UniLGLIntensity=true, Spatial=true, Local Features=true, Feature Mapping=true, Supervision Protocol=IoU-based2025.07 | 98.59 | 85.11 | |
| UniLGL w/o SpatialIntensity=true, Spatial=false, Local Features=true, Feature Mapping=true, Supervision Protocol=IoU-based2025.07 | 97.87 | 81.68 | |
| UniLGL w/o IntensityIntensity=false, Spatial=true, Local Features=true, Feature Mapping=true, Supervision Protocol=IoU-based2025.07 | 97.67 | 83.74 | |
| BEVPlace++Supervision Protocol=IoU-based2025.07 | 95.04 | 59.84 | |
| UniLGL w/o Loc. Feat.Intensity=true, Spatial=true, Local Features=false, Feature Mapping=true, Supervision Protocol=IoU-based2025.07 | 94.18 | 77.05 | |
| Logg3D-NetSupervision Protocol=IoU-based2025.07 | 89.42 | 44.61 | |
| UniLGL w/o FMIntensity=true, Spatial=true, Local Features=true, Feature Mapping=false, Supervision Protocol=IoU-based2025.07 | 87.11 | 18.12 | |
| BEVPlace++ Dis. Sup.Supervision Protocol=Distance-based2025.07 | 84.08 | 35.1 | |
| UniLGL Dis. Sup.Supervision Protocol=Distance-based2025.07 | 83.09 | 75.32 | |
| RING++Supervision Protocol=IoU-based2025.07 | 81.83 | 16.66 |