信息工程大学学报2026，Vol.27Issue(4)：391-398,8.DOI:10.3969/j.issn.1671-0673.2026.04.002
基于车载激光雷达BEV旋转不变特征的城市道路场景地点识别与定位方法
Place Recognition and Localization Method for Urban Road Scenes Based on Vehicle-Mounted LiDAR BEV Rotation-Invariant Features
摘要
Abstract
A place recognition and localization method based on vehicle-mounted LiDAR bird's-eye view(BEV)rotation-invariant features is proposed for autonomous positioning in urban road scenes.Firstly,three-dimensional point clouds acquired by vehicle-mounted LiDAR are transformed into two-di-mensional BEV images through a normalized point-density representation.Subsequently,the translation and rotation invariance properties of LiDAR BEV features are analyzed.On this basis,a rotation-transla-tion-equivariant local feature extraction network for BEV images,termed rotation equivariant local feature extraction network(RE-Net),is designed,together with a global feature aggregation strategy.Finally,place recognition and localization in urban road scenes are performed based on the rotation-invariant BEV fea-tures extracted from vehicle-mounted LiDAR data.The experimental results show that the proposed method improves Recall@1 on the NCLT dataset by at least 5 percentage points compared with main-stream methods,achieves a Recall@1 of over 90%on the self-collected urban wide-angle LiDAR dataset,and demonstrates that training data diversity contributes more than data scale to model generalization.关键词
地点识别/激光雷达/鸟瞰图/旋转不变/城市道路场景Key words
place recognition/LiDAR/bird's-eye view/rotation-invariance/urban road scenes分类
天文与地球科学引用本文复制引用
周梦鸽,曹雪峰,何静怡..基于车载激光雷达BEV旋转不变特征的城市道路场景地点识别与定位方法[J].信息工程大学学报,2026,27(4):391-398,8.
