UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognition
LiDAR place recognition is a key front end for loop closure and global relocalization, yet indoor retrieval remains difficult when attitude or sensor mounting height changes between mapping and query sessions. Scan Context stores the maximum height in each polar cell; indoors, broad ceilings can suppress the lower and mid-level geometry that distinguishes adjacent rooms and corridors. We present UpDown-SC, a training-free polar descriptor that first canonicalizes gravity and then represents two complementary surfaces: the upper envelope of lower/middle structures and the lower envelope of overhead structures. Their physical split is estimated once from a cell-balanced map height distribut...
| Authors | Jie Xu, Yongxin Yang, Ziyi Jin et al. |
|---|---|
| Primary category | cs.CV |
| Published | 24 September 2026 |
| Last updated at source | 24 September 2026 |
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