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インサイト - Visual Localization
Efficient Visual Localization with Place Recognition Anywhere Model (PRAM)
PRAM proposes a novel visual localization framework that efficiently recognizes landmarks in the 3D map and performs fast semantic-aware registration between 2D keypoints and 3D landmarks for accurate pose estimation.
A Novel Benchmark Dataset for Omnidirectional Visual Localization with Cross-Device Queries
The 360Loc dataset introduces a practical implementation of 360° mapping combining lidar data with 360° images to generate ground truth 6DoF poses. It enables the evaluation of visual localization methods on 360° reference images and queries from pinhole, fisheye, and 360° cameras, addressing the challenge of cross-device visual positioning.
