PROBE is a learning-free LiDAR place recognition descriptor using probabilistic Bernoulli occupancy in BEV with analytical translation marginalization via polar Jacobian, achieving top handcrafted accuracy on multi-session tasks across four datasets.
HeLiPR: Heterogeneous LiDAR dataset for inter-LiDAR place recognition under spatiotemporal variations
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PROBE: Probabilistic Occupancy BEV Encoding with Analytical Translation Robustness for 3D Place Recognition
PROBE is a learning-free LiDAR place recognition descriptor using probabilistic Bernoulli occupancy in BEV with analytical translation marginalization via polar Jacobian, achieving top handcrafted accuracy on multi-session tasks across four datasets.