{"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/minkloc3d-point-cloud-based-large-scale-place","title":"MinkLoc3D: Point Cloud Based Large-Scale Place Recognition","arxiv_id":"2011.04530","date":"2020-11-09","proceeding":null,"authors":["Jacek Komorowski"],"abstract":"The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet as the first processing step to extract local features, which are later aggregated into a global descriptor. The PointNet architecture is not well suited to capture local geometric structures. Thus, state-of-the-art methods enhance vanilla PointNet architecture by adding different mechanism to capture local contextual information, such as graph convolutional networks or using hand-crafted features. We present an alternative approach, dubbed MinkLoc3D, to compute a discriminative 3D point cloud descriptor, based on a sparse voxelized point cloud representation and sparse 3D convolutions. The proposed method has a simple and efficient architecture. Evaluation on standard benchmarks proves that MinkLoc3D outperforms current state-of-the-art. Our code is publicly available on the project website: https://github.com/jac99/MinkLoc3D","url_abs":"https://arxiv.org/abs/2011.04530v1","url_pdf":"https://arxiv.org/pdf/2011.04530v1.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":"minkloc3d-point-cloud-based-large-scale-place","repo_url":"https://github.com/jac99/MinkLoc3D","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"3d-place-recognition","task_name":"3D Place Recognition"},{"task_slug":"metric-learning","task_name":"Metric Learning"},{"task_slug":null,"task_name":"Point Cloud Retrieval"},{"task_slug":"visual-place-recognition","task_name":"Visual Place Recognition"}],"methods":[{"method_slug":"graph-convolutional-networks","method_name":"Graph Convolutional Networks"}],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/3d-place-recognition-on-cs-campus3d","task":"3D Place Recognition","dataset":"CS-Campus3D","model":"Minkloc3D","rank_in_archive_order":2,"of":7,"metrics":{"AR@1":"69.38","AR@1 cross-source":"55.36","AR@1%":"79.1","AR@1% cross-source":"85.22"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2011.04530","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2011.04530"}},"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/jac99/MinkLoc3D","reach":null}],"summary":{"ran_honours":1},"by_repo_kind":{"official":{"samples":1,"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":"539f1b912728ba62","entry":"load_pc","repo":"jac99/MinkLoc3D","repo_kind":"official","path":"eval/evaluate.py","file_url":"https://github.com/jac99/MinkLoc3D/blob/HEAD/eval/evaluate.py","link_basis":"first_harvest_node","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"well_formed","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"539f1b912728ba62"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}