Cover Image

LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Yang, Liudi, Mascaro, Ruben, Alzugaray, Ignacio, Prakhya, Sai Manoj, Karrer, Marco, Liu, Ziyuan, Chli, Margarita
Format:	Preprint
Published:	2025
Subjects:	Computer Vision and Pattern Recognition Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Lifelong 3D Mapping Framework for Hand-held & Robot-mounted LiDAR Mapping Systems
by: Yang, Liudi, et al.
Published: (2025)

EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation
by: Border, Rowan, et al.
Published: (2026)

PNE-SGAN: Probabilistic NDT-Enhanced Semantic Graph Attention Network for LiDAR Loop Closure Detection
by: Li, Xiong, et al.
Published: (2025)

Hyperion -- A fast, versatile symbolic Gaussian Belief Propagation framework for Continuous-Time SLAM
by: Hug, David, et al.
Published: (2024)

Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM
by: Wang, Neng, et al.
Published: (2025)

SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM
by: Wang, Neng, et al.
Published: (2024)

BEV-LIO(LC): BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure
by: Cai, Haoxin, et al.
Published: (2025)

Robust Lifelong Indoor LiDAR Localization using the Area Graph
by: Xie, Fujing, et al.
Published: (2023)

Loop Closure via Maximal Cliques in 3D LiDAR-Based SLAM
by: Laserna, Javier, et al.
Published: (2026)

2DLIW-SLAM:2D LiDAR-Inertial-Wheel Odometry with Real-Time Loop Closure
by: Zhang, Bin, et al.
Published: (2024)

Query-Calibrated Segmental Admission for Descriptor-Agnostic LiDAR Loop Closure in Repetitive Environments
by: Kim, Jaehyun, et al.
Published: (2025)

Multi-Mapcher: Loop Closure Detection-Free Heterogeneous LiDAR Multi-Session SLAM Leveraging Outlier-Robust Registration for Autonomous Vehicles
by: Lim, Hyungtae, et al.
Published: (2025)

CE-NPBG: Connectivity Enhanced Neural Point-Based Graphics for Novel View Synthesis in Autonomous Driving Scenes
by: Altillawi, Mohammad, et al.
Published: (2025)

Boosting LiDAR-Based Localization with Semantic Insight: Camera Projection versus Direct LiDAR Segmentation
by: Ochs, Sven, et al.
Published: (2025)

LiDAR-based HD Map Localization using Semantic Generalized ICP with Road Marking Detection
by: Gong, Yansong, et al.
Published: (2024)

SN-LiDAR: Semantic Neural Fields for Novel Space-time View LiDAR Synthesis
by: Chen, Yi, et al.
Published: (2025)

LiDAR Registration with Visual Foundation Models
by: Vödisch, Niclas, et al.
Published: (2025)

Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing
by: Li, Jianping, et al.
Published: (2024)

A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization
by: Song, Baoshan, et al.
Published: (2026)

Multi-LiCa: A Motion and Targetless Multi LiDAR-to-LiDAR Calibration Framework
by: Kulmer, Dominik, et al.
Published: (2025)

Accurate Calibration and Robust LiDAR-Inertial Odometry for Spinning Actuated LiDAR Systems
by: Chen, Zijie, et al.
Published: (2026)

LiDAR-Forest Dataset: LiDAR Point Cloud Simulation Dataset for Forestry Application
by: Lu, Yawen, et al.
Published: (2024)

GLiDR: Topologically Regularized Graph Generative Network for Sparse LiDAR Point Clouds
by: Kumar, Prashant, et al.
Published: (2023)

HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations
by: Jung, Minwoo, et al.
Published: (2023)

Detecting the Anomalies in LiDAR Pointcloud
by: Zhang, Chiyu, et al.
Published: (2023)

LiDAR-Inertial Odometry in Dynamic Driving Scenarios using Label Consistency Detection
by: Yuan, Zikang, et al.
Published: (2024)

LiCROcc: Teach Radar for Accurate Semantic Occupancy Prediction using LiDAR and Camera
by: Ma, Yukai, et al.
Published: (2024)

MR-LiDAR: A Multi-Resolution Roadside LiDAR Benchmark for Perception Diagnostics and Deployment Guidance
by: Cui, Shunlai, et al.
Published: (2026)

Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library
by: Cai, Xinyu, et al.
Published: (2022)

Impact of 3D LiDAR Resolution in Graph-based SLAM Approaches: A Comparative Study
by: Jorge, J., et al.
Published: (2024)

Improved LiDAR Odometry and Mapping using Deep Semantic Segmentation and Novel Outliers Detection
by: Afifi, Mohamed, et al.
Published: (2024)

Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM
by: Lim, Hyungtae, et al.
Published: (2023)

Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps
by: Gupta, Saurabh, et al.
Published: (2025)

Visual Loop Closure Detection Through Deep Graph Consensus
by: Büchner, Martin, et al.
Published: (2025)

Graph-Loc: Robust Graph-Based LiDAR Pose Tracking with Compact Structural Map Priors under Low Observability and Occlusion
by: Zhao, Wentao, et al.
Published: (2026)

Diffusion Based Robust LiDAR Place Recognition
by: Krummenacher, Benjamin, et al.
Published: (2025)

BikeScenes: Online LiDAR Semantic Segmentation for Bicycles
by: Goren, Denniz, et al.
Published: (2025)

Off-Road LiDAR Intensity Based Semantic Segmentation
by: Viswanath, Kasi, et al.
Published: (2024)

On Onboard LiDAR-based Flying Object Detection
by: Vrba, Matouš, et al.
Published: (2023)

Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots
by: Krawciw, Alexander, et al.
Published: (2023)