UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognition

arXiv:2609.29118 · cs.CV, cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 8 pages, 7 figures, 2 tables. Code and evaluation artifacts: https://github.com/jiejie567/updown-sc

Code: https://github.com/jiejie567/updown-sc

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Scan Context — 10× in this paper
Newer College — 5× in this paper
Verification — 5× in this paper · explained in 2 episodes
Ablation — 4× in this paper · explained in 1 episode
Benchmark — 4× in this paper · explained in 2 episodes
Core — 4× in this paper · explained in 2 episodes
Alignment — 3× in this paper · explained in 1 episode
Construction Hall — 3× in this paper
Fine-Tuning — 2× in this paper · explained in 5 episodes
Generalization — 2× in this paper · explained in 13 episodes
Verifier — 2× in this paper · explained in 2 episodes
Accuracy — 1× in this paper · explained in 1 episode
Adaptation — 1× in this paper · explained in 1 episode
Aggregation — 1× in this paper · explained in 1 episode
Calibration — 1× in this paper · explained in 7 episodes
Consistency — 1× in this paper · explained in 3 episodes
Failure Modes — 1× in this paper · explained in 3 episodes
Generative AI — 1× in this paper · explained in 2 episodes
Geometric Mismatch — 1× in this paper · explained in 2 episodes
Robustness — 1× in this paper · explained in 5 episodes
Trace — 1× in this paper · explained in 2 episodes
Transformer — 1× in this paper · explained in 2 episodes

Sources

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