{"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/locus-lidar-based-place-recognition-using","title":"Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling","arxiv_id":"2011.14497","date":"2020-11-30","proceeding":null,"authors":["Kavisha Vidanapathirana","Peyman Moghadam","Ben Harwood","Muming Zhao","Sridha Sridharan","Clinton Fookes"],"abstract":"Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D LiDAR point clouds in large-scale environments. We propose a method for extracting and encoding topological and temporal information related to components in a scene and demonstrate how the inclusion of this auxiliary information in place description leads to more robust and discriminative scene representations. Second-order pooling along with a non-linear transform is used to aggregate these multi-level features to generate a fixed-length global descriptor, which is invariant to the permutation of input features. The proposed method outperforms state-of-the-art methods on the KITTI dataset. Furthermore, Locus is demonstrated to be robust across several challenging situations such as occlusions and viewpoint changes in 3D LiDAR point clouds. The open-source implementation is available at: https://github.com/csiro-robotics/locus .","url_abs":"https://arxiv.org/abs/2011.14497v3","url_pdf":"https://arxiv.org/pdf/2011.14497v3.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"locus-lidar-based-place-recognition-using","repo_url":"https://github.com/csiro-robotics/locus","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"tf","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2011.14497","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}