{"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/deepmapping2-self-supervised-large-scale","title":"DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization","arxiv_id":"2212.06331","date":"2022-12-13","proceeding":"CVPR 2023 1","authors":["Chao Chen","Xinhao Liu","Yiming Li","Li Ding","Chen Feng"],"abstract":"LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep networks. Despite its broad convergence range on small datasets, DeepMapping still cannot produce satisfactory results on large-scale datasets with thousands of frames. This is due to the lack of loop closures and exact cross-frame point correspondences, and the slow convergence of its global localization network. We propose DeepMapping2 by adding two novel techniques to address these issues: (1) organization of training batch based on map topology from loop closing, and (2) self-supervised local-to-global point consistency loss leveraging pairwise registration. Our experiments and ablation studies on public datasets (KITTI, NCLT, and Nebula) demonstrate the effectiveness of our method.","url_abs":"https://arxiv.org/abs/2212.06331v2","url_pdf":"https://arxiv.org/pdf/2212.06331v2.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":"deepmapping2-self-supervised-large-scale","repo_url":"https://github.com/ai4ce/DeepMapping2","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"point-cloud-registration","task_name":"Point Cloud Registration"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2212.06331","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2212.06331"}},"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":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/ai4ce/DeepMapping2","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"unverified":9},"by_repo_kind":{"official":{"samples":9,"ran":0,"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":"cf37e143cc15ae8d","entry":"bce","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"loss/bce_loss.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/loss/bce_loss.py","link_basis":"harvester_set","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":"cf37e143cc15ae8d"}},{"code_sha256_prefix":"c180601a5f83d9c4","entry":"bce_with_logits","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"loss/bce_loss.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/loss/bce_loss.py","link_basis":"harvester_set","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":"c180601a5f83d9c4"}},{"code_sha256_prefix":"fb4d5906d5f4e5fb","entry":"chamfer_loss","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"loss/chamfer_dist.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/loss/chamfer_dist.py","link_basis":"harvester_set","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":"fb4d5906d5f4e5fb"}},{"code_sha256_prefix":"7cf01cf5dee27e00","entry":"find_valid_points","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"dataset_loader/KITTI.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/dataset_loader/KITTI.py","link_basis":"harvester_set","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":"7cf01cf5dee27e00"}},{"code_sha256_prefix":"074261dae92b8e6c","entry":"get_MLP_layers","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"models/networks.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/models/networks.py","link_basis":"harvester_set","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":"074261dae92b8e6c"}},{"code_sha256_prefix":"4add307b57676d65","entry":"get_M_net_inputs_labels","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"models/deepmapping.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/models/deepmapping.py","link_basis":"harvester_set","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":"4add307b57676d65"}},{"code_sha256_prefix":"741a7fb5e7961d1a","entry":"get_and_init_FC_layer","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"models/networks.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/models/networks.py","link_basis":"harvester_set","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":"741a7fb5e7961d1a"}},{"code_sha256_prefix":"14f4db8371a0b16f","entry":"registration_loss","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"loss/chamfer_dist.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/loss/chamfer_dist.py","link_basis":"harvester_set","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":"14f4db8371a0b16f"}},{"code_sha256_prefix":"e82696f20df7f8af","entry":"sample_unoccupied_point","repo":"ai4ce/DeepMapping2","repo_kind":"official","path":"models/deepmapping.py","file_url":"https://github.com/ai4ce/DeepMapping2/blob/HEAD/models/deepmapping.py","link_basis":"harvester_set","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":"e82696f20df7f8af"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}