AI RESEARCH
HOTFLoc++: End-to-End Hierarchical LiDAR Place Recognition, Re-Ranking, and 6-DoF Metric Localisation in Forests
arXiv CS.CV
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ArXi:2511.09170v2 Announce Type: replace This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based transformer, our approach extracts features at multiple granularities to increase robustness to clutter, self-similarity, and viewpoint changes in challenging scenarios, including ground-to-ground and ground-to-aerial in forest and urban environments.