arXiv Computer Vision
ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environments
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arXiv Computer Vision
Sep 30
Temporal-Aware Fusion for Robust Outdoor LiDAR Localization
The paper introduces TempLoc, a Temporal‑aware Localization framework that improves outdoor LiDAR relocalization by leveraging spatio‑temporal consistency across scans. It first predicts point‑wise global coordinates with uncertainties, then estimates inter‑frame correspondences using an attention‑based Prior Coordinate Generation module, and finally fuses these predictions in an uncertainty‑guided manner to produce a more accurate global 6‑DoF pose. Experiments on the NCLT and Oxford RobotCar datasets show that TempLoc significantly outperforms existing state‑of‑the‑art methods.
arXiv AI
Jul 15
PixelLoop: Shortcut Topological Navigation with Pixel-Level Loops
arXiv:2607. 12811v1 Announce Type: cross Abstract: Although topological mapping and navigation have been studied extensively, the specific role and downstream effect of loop closures in purely topological representations has received relatively little attention.
arXiv Computer Vision
Oct 27
VPR-Space: A Benchmark for Visual Place Recognition in Space Analog Domains
arXiv:2610.35642v1 Announce Type: cross Abstract: Visual Place Recognition (VPR) is an important means for loop closure detection in visual Simultaneous Localization and Mapping (SLAM). While state-o...
arXiv Computer Vision
Sep 1
Failure or Drift? Evaluating Monocular SLAM under Synthetic and Real-World Corruptions
arXiv:2608.30690v1 Announce Type: new Abstract: Visual SLAM is commonly evaluated on clean trajectories, although deployment failures are often caused by adverse weather, illumination, blur, and sens...
Hugging Face Trending Papers
Aug 31
Failure or Drift? Evaluating Monocular SLAM under Synthetic and Real-World Corruptions
Visual SLAM is commonly evaluated on clean trajectories, although deployment failures are often caused by adverse weather, illumination, blur, and sensor artifacts. Controlled corruptions are attracti...
arXiv Computer Vision
Oct 22
RoPT: Robust 6DoF Object Pose Tracking in Video
arXiv:2610.28962v1 Announce Type: new Abstract: Accurate 6-DoF object pose tracking is essential for robotic interaction, yet conventional monocular pipelines frequently suffer from catastrophic dive...