LiDAR Place Recognition on Snail Large-scale urban driving scenarios (81R_02)
99.5Recall@1BEVPlace++ Dis. Sup.
Evaluation results
| Method | Links | ||
|---|---|---|---|
| BEVPlace++ Dis. Sup.Supervision=Distance-based (<5m)2025.07 | 99.5 | 73.61 | |
| UniLGL Dis. Sup.Supervision=Distance-based (<5m)2025.07 | 98.67 | 89.93 | |
| UniLGL w/o Loc. Feat.Supervision=IoU-based (>0.25)2025.07 | 96.15 | 88.76 | |
| UniLGLSupervision=IoU-based (>0.25)2025.07 | 95.62 | 79.79 | |
| UniLGL w/o IntensitySupervision=IoU-based (>0.25)2025.07 | 95.03 | 76.55 | |
| UniLGL w/o SpatialSupervision=IoU-based (>0.25)2025.07 | 92.73 | 71.82 | |
| BEVPlace++Supervision=IoU-based (>0.25)2025.07 | 92.08 | 59.95 | |
| UniLGL w/o FMSupervision=IoU-based (>0.25)2025.07 | 91.82 | 37.57 | |
| Logg3D-NetSupervision=IoU-based (>0.25)2025.07 | 72.37 | 30.19 | |
| RING++Supervision=IoU-based (>0.25)2025.07 | 36.09 | 6.03 |