L2RSI: Cross-view LiDAR-based Place Recognition for Large-scale Urban Scenes via Remote Sensing Imagery

We tackle the challenge of LiDAR-based place recognition, which traditionally depends on costly and time-consuming prior 3D maps. To overcome this, we first construct LiRSI-XA dataset, which encompasses approximately $110, 000$ remote sensing submaps and $13, 000$ LiDAR point cloud submaps captured in urban scenes, and propose a novel method, L2RSI, for cross-view LiDAR place recognition using high-resolution Remote Sensing Imagery. This approach enables large-scale localization capabilities at a reduced cost by leveraging readily available overhead images as map proxies. L2RSI addresses the dual challenges of cross-view and cross-modal place recognition by learning feature alignment between point cloud submaps and remote sensing submaps in the semantic domain. Additionally, we introduce a novel probability propagation method based on particle estimation to refine position predictions, effectively leveraging temporal and spatial information. This approach enables large-scale retrieval and cross-scene generalization without fine-tuning. Extensive experiments on LiRSI-XA demonstrate that, within a $100km^2$ retrieval range, L2RSI accurately localizes $83. 27\%$ of point cloud submaps within a $30m$ radius for top-$1$ retrieved location. Our project page is publicly available at https: //shizw695. github. io/L2RSI/.

Authors

• Ziwei Shi
• Xiaoran Zhang
• Wenjing Xu
• Yan Xia Technische Universität München
• Yu Zang Xiamen University
• Siqi Shen Xiamen University
• Cheng Wang

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