Polar Perspectives: Evaluating 2-D LiDAR Projections for Robust Place Recognition with Visual Foundation Models
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866917119468240896 |
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| author | Serio, Pierpaolo Pisaneschi, Giulio Ryals, Andrea Dan Infantino, Vincenzo Gentilini, Lorenzo Donzella, Valentina Pollini, Lorenzo |
| author_facet | Serio, Pierpaolo Pisaneschi, Giulio Ryals, Andrea Dan Infantino, Vincenzo Gentilini, Lorenzo Donzella, Valentina Pollini, Lorenzo |
| contents | This work presents a systematic investigation into how alternative LiDAR-to-image projections affect metric place recognition when coupled with a state-of-the-art vision foundation model. We introduce a modular retrieval pipeline that controls for backbone, aggregation, and evaluation protocol, thereby isolating the influence of the 2-D projection itself. Using consistent geometric and structural channels across multiple datasets and deployment scenarios, we identify the projection characteristics that most strongly determine discriminative power, robustness to environmental variation, and suitability for real-time autonomy. Experiments with different datasets, including integration into an operational place recognition policy, validate the practical relevance of these findings and demonstrate that carefully designed projections can serve as an effective surrogate for end-to-end 3-D learning in LiDAR place recognition. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_02897 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Polar Perspectives: Evaluating 2-D LiDAR Projections for Robust Place Recognition with Visual Foundation Models Serio, Pierpaolo Pisaneschi, Giulio Ryals, Andrea Dan Infantino, Vincenzo Gentilini, Lorenzo Donzella, Valentina Pollini, Lorenzo Computer Vision and Pattern Recognition Robotics This work presents a systematic investigation into how alternative LiDAR-to-image projections affect metric place recognition when coupled with a state-of-the-art vision foundation model. We introduce a modular retrieval pipeline that controls for backbone, aggregation, and evaluation protocol, thereby isolating the influence of the 2-D projection itself. Using consistent geometric and structural channels across multiple datasets and deployment scenarios, we identify the projection characteristics that most strongly determine discriminative power, robustness to environmental variation, and suitability for real-time autonomy. Experiments with different datasets, including integration into an operational place recognition policy, validate the practical relevance of these findings and demonstrate that carefully designed projections can serve as an effective surrogate for end-to-end 3-D learning in LiDAR place recognition. |
| title | Polar Perspectives: Evaluating 2-D LiDAR Projections for Robust Place Recognition with Visual Foundation Models |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2512.02897 |