coarse-to-fine refinement 1floorplan localization 1indoor localization 1multimodal pose estimation 1pose diffusion 1
From the 1 of 2 linked papers with an AI index.
2 papers
cs.RO2026
From Uncertainty to Determinism: Coarse-to-Fine Visual Floorplan Localization without Ray Matching
Shiyong Meng, Bolei Chen, Ping Zhong +4
The paper introduces a coarse-to-fine visual floorplan localization framework that first uses an image-conditioned pose diffusion model to capture multimodal pose distributions and…
cs.RO2026
DisCo-FLoc: Semantic-Free Floorplan Localization via -Aware Contrastive Disambiguation
Ping Zhong, Shiyong Meng, Bolei Chen +3
Visual Floorplan Localization (FLoc) struggles with severe structural aliasing caused by repetitive minimalist layouts. This occurs because physically distant poses share highly si…