DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DoF Relocalization. - Juan Du 012; Rui Wang 037; Daniel Cremers (ECCV (4), 2020)

SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud Based Place Recognition. - Yan Xia 003; Yusheng Xu; Shuang Li 008; Rui Wang 037; Juan Du 012; Daniel Cremers; Uwe Stilla (CVPR, 2021)