{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/bevplace-learning-lidar-based-place","title":"BEVPlace: Learning LiDAR-based Place Recognition using Bird's Eye View Images","arxiv_id":"2302.14325","date":"2023-02-28","proceeding":"ICCV 2023 1","authors":["Lun Luo","Shuhang Zheng","Yixuan Li","Yongzhi Fan","Beinan Yu","Siyuan Cao","HuiLiang Shen"],"abstract":"Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of retrieval, but their performance may degrade in the case of view variation or scene changes. In this work, we explore the potential of a different representation in place recognition, i.e. bird's eye view (BEV) images. We observe that the structural contents of BEV images are less influenced by rotations and translations of point clouds. We validate that, without any delicate design, a simple VGGNet trained on BEV images achieves comparable performance with the state-of-the-art place recognition methods in scenes of slight viewpoint changes. For more robust place recognition, we design a rotation-invariant network called BEVPlace. We use group convolution to extract rotation-equivariant local features from the images and NetVLAD for global feature aggregation. In addition, we observe that the distance between BEV features is correlated with the geometry distance of point clouds. Based on the observation, we develop a method to estimate the position of the query cloud, extending the usage of place recognition. The experiments conducted on large-scale public datasets show that our method 1) achieves state-of-the-art performance in terms of recall rates, 2) is robust to view changes, 3) shows strong generalization ability, and 4) can estimate the positions of query point clouds. Source codes are publicly available at https://github.com/zjuluolun/BEVPlace.","url_abs":"https://arxiv.org/abs/2302.14325v3","url_pdf":"https://arxiv.org/pdf/2302.14325v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"bevplace-learning-lidar-based-place","repo_url":"https://github.com/zjuluolun/bevplace","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"retrieval","task_name":"Retrieval"}],"methods":[{"method_slug":"convolution","method_name":"Convolution"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2302.14325","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2302.14325"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/zjuluolun/BEVPlace","reach":null}],"summary":{"ran":1,"unverified":2},"by_repo_kind":{"official":{"samples":3,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"0f4559d58a6937a3","entry":"NetVLAD","repo":"zjuluolun/BEVPlace","repo_kind":"official","path":"REIN.py","file_url":"https://github.com/zjuluolun/BEVPlace/blob/HEAD/REIN.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"0f4559d58a6937a3"}},{"code_sha256_prefix":"6d5036e03343da60","entry":"REIN","repo":"zjuluolun/BEVPlace","repo_kind":"official","path":"REIN.py","file_url":"https://github.com/zjuluolun/BEVPlace/blob/HEAD/REIN.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"6d5036e03343da60"}},{"code_sha256_prefix":"c200bd35e1f0f580","entry":"REM","repo":"zjuluolun/BEVPlace","repo_kind":"official","path":"REIN.py","file_url":"https://github.com/zjuluolun/BEVPlace/blob/HEAD/REIN.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"c200bd35e1f0f580"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}