Abstract: Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop ...
GPVK-VL: Geometry-Preserving Virtual Keyframes for Visual Localization under Large Viewpoint Changes
Abstract: Visual localization, the task of determining the position and orientation of a camera, typically involves three core components: offline construction of a keyframe database, efficient online ...
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