Abstract: Robust localization is essential for emergency rescue operations, infrastructure inspection, and autonomous exploration in complex underground spaces. However, the factors, such as global ...

Abstract: This paper investigates a cost-effective approach to autonomous vehicle localization by leveraging lightweight, $a priori$ discrete landmark maps as a ...

Each frame: a single query image (left) and the camera pose recovered against a COLMAP map (right, green = localized camera). South-Building dataset, 118 db / 10 query images, DISK + LightGlue + ...