LiDAR Place Recognition on Snail Large-scale urban driving scenarios (Average)
99.2Recall@1UniLGL Dis. Sup.
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| UniLGL Dis. Sup.Supervision=Distance-based (<5m)2025.07 | 99.2 | 90.6 | |
| BEVPlace++ Dis. Sup.Supervision=Distance-based (<5m)2025.07 | 98.99 | 67.72 | |
| UniLGL w/o Loc. Feat.Supervision=IoU-based (>0.25)2025.07 | 97.34 | 89.06 | |
| UniLGLSupervision=IoU-based (>0.25)2025.07 | 96.87 | 83.99 | |
| UniLGL w/o IntensitySupervision=IoU-based (>0.25)2025.07 | 96.49 | 79.25 | |
| UniLGL w/o SpatialSupervision=IoU-based (>0.25)2025.07 | 95.48 | 79.82 | |
| BEVPlace++Supervision=IoU-based (>0.25)2025.07 | 94.84 | 62.01 | |
| UniLGL w/o FMSupervision=IoU-based (>0.25)2025.07 | 85.7 | 30.86 | |
| Logg3D-NetSupervision=IoU-based (>0.25)2025.07 | 74.57 | 29.59 | |
| RING++Supervision=IoU-based (>0.25)2025.07 | 35.83 | 7.26 |