Loop-closure detection by LiDAR scan re-identification

Jukka Peltomäki, Xingyang Ni, Jussi Puura, Joni Kristian Kämäräinen, Heikki Huttunen

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


In this work, loop-closure detection from LiDAR scans is defined as an image re-identification problem. Re-identification is performed by computing Euclidean distances of a query scan to a gallery set of previous scans. The distances are computed in a feature embedding space where the scans are mapped by a convolutional neural network (CNN). The network is trained using the triplet loss training strategy. In our experiments we compare different backbone networks, variants of the triplet loss and generic and LiDAR specific data augmentation techniques. With a realistic indoor dataset the best architecture obtains the mean average precision (mAP) above 0.94.

Original languageEnglish
Title of host publicationProceedings of ICPR 2020 - 25th International Conference on Pattern Recognition
Number of pages8
ISBN (Electronic)978-1-7281-8808-9
Publication statusPublished - 2021
Publication typeA4 Article in conference proceedings
Event25th International Conference on Pattern Recognition, ICPR 2020 - Virtual, Milan, Italy
Duration: 10 Jan 202115 Jan 2021

Publication series

NameProceedings - International Conference on Pattern Recognition
ISSN (Print)1051-4651


Conference25th International Conference on Pattern Recognition, ICPR 2020
CityVirtual, Milan

Publication forum classification

  • Publication forum level 1

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition


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