Loop Closure Detection

Description from the archive archive 2025-07-28.

Benchmarks archive 2025-07-28

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Libraries

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Datasets archive 2025-07-28

3 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

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Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

30 shown of 31 papers with code (89 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features
  12 Aug 2020 3 repositories listed
  For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and association is still empirically designed in most cases, and can be vulnerable in complex…
• Fast and Incremental Loop Closure Detection with Deep Features and Proximity Graphs
  29 Sep 2020 2 repositories listed
  In recent years, the robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.
• ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images
  6 Mar 2025 1 repository listed
  We hypothesize that a set of cross-sectional images of the forest's geometry at different heights contains the information needed to recognize revisiting a place.
• LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks
  31 Jan 2025 1 repository listed
  In this paper, we propose a novel loop closure detection algorithm that uses graph attention neural networks to encode semantic graphs to perform place recognition and then use semantic registration to estimate the 6…
• Balancing Accuracy and Efficiency for Large-Scale SLAM: A Minimal Subset Approach for Scalable Loop Closures
  3 Jan 2025 1 repository listed
  Keyframe sampling bridges the front-end and back-end by selecting frames for storing and processing during global optimization.
• Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition
  3 Oct 2024 1 repository listed
  Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift.
• GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection
  16 Jul 2024 1 repository listed
  Existing feature matching methods focus on homography and pose estimation in long-term visual localization, lacking references for geometric verification.
• OverlapMamba: Novel Shift State Space Model for LiDAR-based Place Recognition
  13 May 2024 1 repository listed
  In a novel way, we employ a stochastic reconstruction approach to build shift state space models, compressing the visual representation.
• Loop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency
  11 Apr 2023 1 repository listed
  Then, we propose a graph matching approach to select correspondence objects based on the structure layout and semantic property similarity of vertices' neighbors.
• Region Prediction for Efficient Robot Localization on Large Maps
  1 Mar 2023 1 repository listed
  In topological SLAM the recognition takes place by comparing a signature (or feature vector) associated to the current node with the signatures of the nodes in the known map.
• ORCHNet: A Robust Global Feature Aggregation approach for 3D LiDAR-based Place recognition in Orchards
  1 Mar 2023 1 repository listed
  In this work, we address the place recognition problem in orchards resorting to 3D LiDAR data, which is considered a key modality for robustness.
• Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation
  13 Feb 2023 1 repository listed
  This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario.
• General Place Recognition Survey: Towards the Real-world Autonomy Age
  9 Sep 2022 1 repository listed
  A summary of this work and our datasets and evaluation API is publicly available to the robotics community at: https://github.
• Phase-SLAM: Phase Based Simultaneous Localization and Mapping for Mobile Structured Light Illumination Systems
  22 Jan 2022 1 repository listed
  In this paper, we propose a phase based Simultaneous Localization and Mapping (Phase-SLAM) framework for fast and accurate SLI sensor pose estimation and 3D object reconstruction.
• Why-So-Deep: Towards Boosting Previously Trained Models for Visual Place Recognition
  10 Jan 2022 1 repository listed
  We propose a novel approach for improving image retrieval based on previously trained models.
• Loop closure detection using local 3D deep descriptors
  31 Oct 2021 1 repository listed
  We compare our L3D-based loop closure approach with recent approaches on LiDAR data and achieve state-of-the-art loop closure detection accuracy.
• CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure
  27 Sep 2021 1 repository listed
  Multi-beam LiDAR sensors are increasingly used in robotics, particularly with autonomous cars for localization and perception tasks, both relying on the ability to build a precise map of the environment.
• AirLoop: Lifelong Loop Closure Detection
  18 Sep 2021 1 repository listed
  Nevertheless, simply finetuning the model on new data is infeasible since it may cause the model's performance on previously learned data to degrade over time, which is also known as the problem of catastrophic…
• On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM
  3 Aug 2021 1 repository listed
  We propose an extension to the segment-based global localization method for LiDAR SLAM using descriptors learned considering the visual context of the segments.
• Probabilistic Appearance-Invariant Topometric Localization with New Place Awareness
  16 Jul 2021 1 repository listed
  Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data.
• AttDLNet: Attention-based DL Network for 3D LiDAR Place Recognition
  17 Jun 2021 1 repository listed
  LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications.
• NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation
  23 Mar 2021 1 repository listed Syntology ran 0 of 8 samples · 8 unverified
  Benefiting from the NDT representation and NDT-Transformer network, the learned global descriptors are enriched with both geometrical and contextual information.
• LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM
  8 Mar 2021 1 repository listed
  Loop closure detection is an essential component of Simultaneous Localization and Mapping (SLAM) systems, which reduces the drift accumulated over time.
• Visual place recognition: A survey from deep learning perspective
  28 Nov 2020 1 repository listed
  Visual place recognition has attracted widespread research interest in multiple fields such as computer vision and robotics.
• Place Recognition in Forests with Urquhart Tessellations
  23 Sep 2020 1 repository listed
  In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest.
• Dynamic Object Tracking and Masking for Visual SLAM
  31 Jul 2020 1 repository listed
  In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects.
• Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection
  12 Mar 2020 1 repository listed
  Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM).
• Kernel learning for visual perception
  6 Dec 2019 1 repository listed
  To this end, the novel kernel learning methods for several basic visual perceptual tasks, including object tracking, localization, mapping, and image recognition, are proposed and demonstrated both theoretically and…
• Fast and Incremental Loop Closure Detection Using Proximity Graphs
  25 Nov 2019 1 repository listed
  Visual loop closure detection, which can be considered as an image retrieval task, is an important problem in SLAM (Simultaneous Localization and Mapping) systems.
• Sem-LSD: A Learning-based Semantic Line Segment Detector
  14 Sep 2019 1 repository listed
  Combined with high-level semantics, Sem-LS is more robust under cluttered environment compared with existing line-shaped representations.

Syntology lines on 1 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.