@ARTICLE{xu2025c2l,
  author={Huaiyuan Xu and Huaping Liu and Shoudong Huang and Yuxiang Sun},
  journal={IEEE Transactions on Intelligent Vehicles}, 
  title={C2L-PR: Cross-Modal Camera-to-LiDAR Place Recognition via Modality Alignment and Orientation Voting}, 
  year={2025},
  volume={10},
  number={2},
  pages={1128-1144},
  doi={10.1109/TIV.2024.3423392}}