PGGT-Loc: Primitive-Grounded Geometry Transformer for Feed-Forward Camera Localization
Overview
This research introduces PGGT-Loc, a network designed for feed-forward 6-DoF camera localization by grounding visual observations to planar map primitives. The method aims to overcome the modality gap between map primitives and visual data, offering a scalable architecture that generalizes to unseen environments while achieving state-of-the-art performance on both dense surface maps and minimal layout models. Code and models are publicly available.
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- arXiv Robotics — research abstractsSignalPGGT-Loc: Primitive-Grounded Geometry Transformer for Feed-Forward Camera Localization
This research introduces PGGT-Loc, a network designed for feed-forward 6-DoF camera localization by grounding visual observations to planar map primitives. The method aims to overcome the modality gap between map primitives and visual data, offering a scalable architecture that generalizes to unseen environments while achieving state-of-the-art performance on both dense surface maps and minimal layout models. Code and models are publicly available.
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