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cs.CV2026
M3GA-Wild: A Large-Scale Dataset and Benchmark for Multi-Modal Multi-session Ground-to-Aerial Place Recognition in Forests
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
We present M3GA-Wild, the first benchmark for multi-modal, multi-session ground-to-aerial place recognition in forests. M3GA-Wild unifies and extends existing forest localisation d…
cs.CV2025
HOTFLoc++: End-to-End Hierarchical LiDAR Place Recognition, Re-Ranking, and 6-DoF Metric Localisation in Forests
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
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…
cs.CV2025
HOTFormerLoc: Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Views
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
We present HOTFormerLoc, a novel and versatile Hierarchical Octree-based TransFormer, for large-scale 3D place recognition in both ground-to-ground and ground-to-aerial scenarios a…