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However, existing LiDAR\u2010based datasets often focus on outdoor scenarios and lack seamless domain shifts. In this paper, we propose RoboLoc, a benchmark dataset designed for GPS\u2010free place recognition in indoor\u2013outdoor environments with floor transitions. RoboLoc features real\u2010world robot trajectories, diverse elevation profiles, and transitions between structured indoor and unstructured outdoor domains. We benchmark a variety of state\u2010of\u2010the\u2010art models, point\u2010based, voxel\u2010based, and BEV\u2010based architectures, highlighting their generalizability domain shifts. RoboLoc provides a realistic testbed for developing multi\u2010domain localization systems in robotics and autonomous\u00a0navigation.<\/jats:p>","DOI":"10.1049\/ipr2.70267","type":"journal-article","created":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T07:26:09Z","timestamp":1767857169000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["RoboLoc: A Benchmark Dataset for Point Place Recognition and Localization in Indoor\u2013Outdoor Integrated Environments"],"prefix":"10.1049","volume":"20","author":[{"given":"Jaejin","family":"Jeon","sequence":"first","affiliation":[{"name":"Department of Data, Network and AI, Ajou University Ajou University Suwon\u2010si South Korea"}]},{"given":"Seonghoon","family":"Ryoo","sequence":"additional","affiliation":[{"name":"Department of Data, Network and AI, Ajou University Ajou University Suwon\u2010si South Korea"}]},{"given":"Sang\u2010Duck","family":"Lee","sequence":"additional","affiliation":[{"name":"Korea Railroad Research Institute Uiwang\u2010si South Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6633-997X","authenticated-orcid":false,"given":"Soomok","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Computer Science Kennesaw State University  Marietta Georgia United\u00a0States"}]},{"given":"Seungwoo","family":"Jeong","sequence":"additional","affiliation":[{"name":"Korea Railroad Research Institute Uiwang\u2010si South Korea"}]}],"member":"265","published-online":{"date-parts":[[2026,1,7]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"crossref","unstructured":"R.Arandjelovic P.Gronat A.Torii T.Pajdla andJ.Sivic \u201cNetvlad: CNN Architecture for Weakly Supervised Place Recognition \u201d inProceedings of the IEEE Conference on Computer Vision and Pattern Recognition(IEEE 2016) 5297\u20135307.","DOI":"10.1109\/CVPR.2016.572"},{"key":"e_1_2_11_3_1","doi-asserted-by":"crossref","unstructured":"M. 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