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cs.CV2026
FlatVPR: Plug-and-play Geo-linear Residual Adapter for Geometric Rectification of Foundation Model Feature Manifolds
Rai Hisada, Kanji Tanaka
This paper proposes ``FlatVPR,'' a novel geometric rectification paradigm that effectively bridges the trade-off between map lightweightness and localization accuracy in visual pla…
cs.CV2024
DRIP: Discriminative Rotation-Invariant Pole Landmark Descriptor for 3D LiDAR Localization
Dingrui Li, Dedi Guo, Kanji Tanaka
In 3D LiDAR-based robot self-localization, pole-like landmarks are gaining popularity as lightweight and discriminative landmarks. This work introduces a novel approach called "dis…