# A two-level framework for place recognition with 3D LiDAR based on spatial relation graph

> Research article (Pattern Recognition, 2021) · cited 17× · AI/ML

**Wikidata**: [openalex:W3181984168](https://www.wikidata.org/wiki/openalex:W3181984168)  
**Source**: https://4ort.xyz/entity/a-two-level-framework-for-place-recognition-with-3d-lidar-based-on-spatial-relation-graph