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attention mechanisms 1descriptor enhancement 1feature matching 1real-time robotics 1visual slam 1

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1 paper

cs.RO2026

Desc++: Efficient Descriptor Enhancement for Data Association in Existing Visual SLAM Systems

Ting-Wei Ou, Huang-Ting Lin, Kuu-Young Young

The paper introduces Desc++, a lightweight module that refines existing visual feature descriptors by jointly encoding descriptor and keypoint geometry using a hybrid global‑attent…