Paper Citation Record · LEDGER

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer

As of 12 August 2026, this Paper Citation Record lists 44 of 44 outbound references and 2 inbound Pith citation observations for arXiv:2501.18943.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2501.18943 v2

Coverage vector

measured 44 of 44 reference resolution

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measured 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-07T14:49:21.356815Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: pith, observed 2026-08-07T14:49:22.594296Z

Reference resolution

44 of 44 outbound references displayed

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External citation measurements

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Outbound references

Observation 70a2443f-4f8b-42b9-bd36-30ec09ee82ca · outbound

This paper cites Scan context: Egocentric spatial de- scriptor for place recognition within 3d point cloud map,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Scan context: Egocentric spatial de- scriptor for place recognition within 3d point cloud map,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.764116Z

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No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 99955194-7081-45a8-8908-4eaf54ed9d0a · outbound

This paper cites Scan context++: Structural place recognition robust to rotation and lateral variations in urban environments,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Scan context++: Structural place recognition robust to rotation and lateral variations in urban environments,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.749434Z

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Observation eef92b1c-c5a8-41ec-8173-890f1995014e · outbound

This paper cites Ring++: Roto-translation-invariant gram for global localization on a sparse scan map,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Ring++: Roto-translation-invariant gram for global localization on a sparse scan map,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.734126Z

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Observation 29839fd0-01a3-4152-8865-297e9ffbf564 · outbound

This paper cites Bevplace: Learning lidar-based place recognition using bird’s eye view images,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Bevplace: Learning lidar-based place recognition using bird’s eye view images,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.718251Z

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Observation 9a5a05e6-4916-42f9-8b09-de22f07a533b · outbound

This paper cites Std: Stable triangle descriptor for 3d place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Std: Stable triangle descriptor for 3d place recognition,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.703865Z

Source-reported events for the cited work

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Observation 19ba31b3-70da-45b5-8d43-44e21f4d08ef · outbound

This paper cites Btc: A binary and triangle combined descriptor for 3d place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Btc: A binary and triangle combined descriptor for 3d place recognition,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.689086Z

Source-reported events for the cited work

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Observation f26127bb-81e5-47c3-82f5-3ead1da71ab7 · outbound

This paper cites Narrowing your fov with solid: Spatially organized and lightweight global descriptor for fov-constrained lidar place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Narrowing your fov with solid: Spatially organized and lightweight global descriptor for fov-constrained lidar place recognition,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.673972Z

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Observation f1cea48b-c47f-461f-be62-5433ee8c3500 · outbound

This paper cites Cvtnet: A cross- view transformer network for lidar-based place recognition in autonomous driving environments,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Cvtnet: A cross- view transformer network for lidar-based place recognition in autonomous driving environments,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.659174Z

Source-reported events for the cited work

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Observation b26b7085-a537-4938-9345-aa9f4f574070 · outbound

This paper cites Overlap- transformer: An efficient and yaw-angle-invariant transformer network for lidar-based place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Overlap- transformer: An efficient and yaw-angle-invariant transformer network for lidar-based place recognition,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.643412Z

Source-reported events for the cited work

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Observation db5723c2-4c57-4f08-9d57-512cc5e89e27 · outbound

This paper cites Robust place recognition using an imaging lidar,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Robust place recognition using an imaging lidar,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.627742Z

Source-reported events for the cited work

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Observation d22d873d-b5c1-4318-984b-10e4044cce13 · outbound

This paper cites A decentralized framework for simultaneous calibration, localization and mapping with multiple lidars,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer A decentralized framework for simultaneous calibration, localization and mapping with multiple lidars,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.612161Z

Source-reported events for the cited work

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Observation 03010b06-653f-437e-a195-c86a7211df12 · outbound

This paper cites Helipr: Heterogeneous lidar dataset for inter-lidar place recognition under spatiotemporal variations,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Helipr: Heterogeneous lidar dataset for inter-lidar place recognition under spatiotemporal variations,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.597049Z

Source-reported events for the cited work

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Observation ad7ef2d2-2a50-46d7-8192-542246981c67 · outbound

This paper cites Cross- loc3d: Aerial-ground cross-source 3d place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Cross- loc3d: Aerial-ground cross-source 3d place recognition,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.580285Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 7eae111f-235c-47e3-845c-21b73264aa68 · outbound

This paper cites (lc) 2: Lidar-camera loop constraints for cross-modal place recog- nition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer (lc) 2: Lidar-camera loop constraints for cross-modal place recog- nition,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.563016Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 28ca7814-60fc-4cb1-aa27-dc264590646b · outbound

This paper cites Min- kloc++: lidar and monocular image fusion for place recog- nition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Min- kloc++: lidar and monocular image fusion for place recog- nition,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.546825Z

Source-reported events for the cited work

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Observation bc74c386-0342-419c-b61d-4fe4c3ca0613 · outbound

This paper cites Spherical trans- former for lidar-based 3d recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Spherical trans- former for lidar-based 3d recognition,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.530601Z

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Observation edd2ec3d-159f-4a8f-ba09-140d67651327 · outbound

This paper cites Optimal transport aggregation for visual place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Optimal transport aggregation for visual place recognition,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.514153Z

Source-reported events for the cited work

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Observation 21babdbb-be89-4c5b-a64f-efeba88d2b6e · outbound

This paper cites Pointnetvlad: Deep point cloud based retrieval for large-scale place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Pointnetvlad: Deep point cloud based retrieval for large-scale place recognition,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.498631Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation d0e2fc89-16cc-489a-bd48-c01bfb72a8fc · outbound

This paper cites Pointnet: Deep learning on point sets for 3d classification and segmentation,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Pointnet: Deep learning on point sets for 3d classification and segmentation,

Reference 19

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Observation c907cf6a-428a-4ead-a949-cb39c4b3bb92 · outbound

This paper cites Lpd-net: 3d point cloud learning for large-scale place recognition and environment analysis,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Lpd-net: 3d point cloud learning for large-scale place recognition and environment analysis,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.472933Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 0cd053bb-808a-4067-9cdc-9966bd333397 · outbound

This paper cites Local descriptor for robust place recognition using lidar intensity,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Local descriptor for robust place recognition using lidar intensity,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.457907Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 80f2b87d-bc0a-4199-a07d-164c72b82e9b · outbound

This paper cites Improving point cloud based place recog- nition with ranking-based loss and large batch training,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Improving point cloud based place recog- nition with ranking-based loss and large batch training,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.442446Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation c202d8e6-099e-47ae-bd75-7fc24b1fb946 · outbound

This paper cites Logg3d-net: Locally guided global descriptor learning for 3d place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Logg3d-net: Locally guided global descriptor learning for 3d place recognition,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.427031Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 95275bb6-e778-4ed3-bb36-ffae5291b294 · outbound

This paper cites Casspr: Cross attention single scan place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Casspr: Cross attention single scan place recognition,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.411572Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation def1fb2b-cae6-4d57-8a7d-8041bfb61a99 · outbound

This paper cites Salsa: Swift adaptive lightweight self-attention for enhanced lidar place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Salsa: Swift adaptive lightweight self-attention for enhanced lidar place recognition,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.395359Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 0c23a252-15fc-4325-b7f0-714fd9584372 · outbound

This paper cites Lcpr: A multi- scale attention-based lidar-camera fusion network for place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Lcpr: A multi- scale attention-based lidar-camera fusion network for place recognition,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.379838Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 9267b81e-fae6-4116-bdf1-aa24a78b3e93 · outbound

This paper cites General- ized contrastive optimization of siamese networks for place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer General- ized contrastive optimization of siamese networks for place recognition,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.364238Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 5f93a7e9-f36e-44ad-8ac4-836627ba9271 · outbound

This paper cites OverlapNet: Loop Closing for LiDAR-based SLAM,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer OverlapNet: Loop Closing for LiDAR-based SLAM,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.348999Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation f65c038e-5bcd-4398-a708-96d9ef8686a2 · outbound

This paper cites Triplet loss in siamese network for object tracking,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Triplet loss in siamese network for object tracking,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.332619Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation e5edab6c-257f-46c0-be04-4d537650c7a0 · outbound

This paper cites Understanding the behaviour of con- trastive loss,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Understanding the behaviour of con- trastive loss,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.316127Z

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Observation e8bbd78c-7452-4c98-9e96-4d851da27154 · outbound

This paper cites Deep metric learning with hierarchical triplet loss,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Deep metric learning with hierarchical triplet loss,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.298734Z

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No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 8a89900b-c620-4fba-8e8d-f416aea0c93c · outbound

This paper cites Revisiting self- similarity: Structural embedding for image retrieval,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Revisiting self- similarity: Structural embedding for image retrieval,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.283319Z

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Observation 6a34fd4b-64a4-4872-a357-69a289dfee4c · outbound

This paper cites 4d spatio-temporal convnets: Minkowski convolutional neural networks,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer 4d spatio-temporal convnets: Minkowski convolutional neural networks,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.267667Z

Source-reported events for the cited work

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Observation 4d633258-abd9-45c3-b017-e5b2c35d3c24 · outbound

This paper cites A survey on vision transformer,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer A survey on vision transformer,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.252757Z

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Observation d9c87d78-5015-4326-856c-4aa77a7a6193 · outbound

This paper cites Sinkhorn distances: Lightspeed computation of optimal transport,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Sinkhorn distances: Lightspeed computation of optimal transport,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.236638Z

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Observation 4b211930-c480-4c0b-8bce-e8db0c29530c · outbound

This paper cites Fine-tuning cnn image retrieval with no human annotation,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Fine-tuning cnn image retrieval with no human annotation,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.221546Z

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Observation 564ddf75-e61e-4647-9d2c-a0cc9a8ca7cd · outbound

This paper cites University of michigan north campus long-term vision and lidar dataset,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer University of michigan north campus long-term vision and lidar dataset,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.206746Z

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Observation 22046e94-660d-438c-addc-7c33c1be089b · outbound

This paper cites Mulran: Multimodal range dataset for urban place recognition,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Mulran: Multimodal range dataset for urban place recognition,

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.191795Z

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Observation 10ccf20b-ca28-4c0c-801d-b20d3350086e · outbound

This paper cites Ephemerality meets lidar-based lifelong mapping,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Ephemerality meets lidar-based lifelong mapping,

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.177168Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 731be560-9267-4964-acfe-d8bd779c7e60 · outbound

This paper cites Lidar odometry survey: recent advancements and remaining challenges,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Lidar odometry survey: recent advancements and remaining challenges,

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-09T21:55:40.043680Z

Source-reported events for the cited work

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Observation 4f2dd92e-2278-4897-8368-4def8304dc2a · outbound

This paper cites Asynchronous multiple lidar-inertial odometry using point-wise inter-lidar uncertainty propagation,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Asynchronous multiple lidar-inertial odometry using point-wise inter-lidar uncertainty propagation,

Reference 41

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.148563Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 072f9867-f50c-4696-889d-76ff8deec2fc · outbound

This paper cites Multi-lio: A lightweight multiple lidar-inertial odometry system,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Multi-lio: A lightweight multiple lidar-inertial odometry system,

Reference 42

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.132859Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 667e6283-8ea5-4ef5-ab28-e1c1fcb763f5 · outbound

This paper cites Disco-slam: Distributed scan context-enabled multi-robot lidar slam with two-stage global-local graph optimization,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Disco-slam: Distributed scan context-enabled multi-robot lidar slam with two-stage global-local graph optimization,

Reference 43

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.116684Z

Source-reported events for the cited work

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Observation d1b8e850-b412-4c97-bb59-c820f0ab38d2 · outbound

This paper cites Lamp 2.0: A robust multi-robot slam system for op- eration in challenging large-scale underground environments,.

HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer Lamp 2.0: A robust multi-robot slam system for op- eration in challenging large-scale underground environments,

Reference 44

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:55:40.100412Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Pith citing papers

Observation ff8a34f8-613e-4562-bb28-6e9e5e9bf1b3 · inbound

MinkUNeXt-SI: Improving point cloud-based place recognition including spherical coordinates and LiDAR intensity cites this paper.

MinkUNeXt-SI: Improving point cloud-based place recognition including spherical coordinates and LiDAR intensity HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer

Reference 48

Resolution: metadata mismatch; local_arxiv, observed 2026-08-07T14:49:22.661926Z

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KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference cites this paper.

KISS-IMU: Self-supervised Inertial Odometry with Motion-balanced Learning and Uncertainty-aware Inference HeLiOS: Heterogeneous LiDAR Place Recognition via Overlap-based Learning and Local Spherical Transformer

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