Route-MHT: Multimodal Transformer Guardrails for Thermal Visual Place Recognition

arXiv:2607.04745 · cs.RO, cs.CV · Submitted 2026-07-06 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-07-06

Updated: 2026-09-22

Comments: 8 pages, 3 figures, technical report

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Alignment — 14× in this paper · explained in 1 episode
• Hallucination — 13× in this paper · explained in 3 episodes
• Verification — 11× in this paper · explained in 2 episodes
• AUC — 10× in this paper · explained in 2 episodes
• Calibration — 9× in this paper · explained in 7 episodes
• Foundation Model — 9× in this paper · explained in 3 episodes
• Multi-Hypothesis Tracking — 8× in this paper
• Consistency — 7× in this paper · explained in 3 episodes
• Trajectory-Anchor Optimization — 7× in this paper
• Benchmark — 5× in this paper · explained in 2 episodes
• Foundation Models — 5× in this paper · explained in 7 episodes
• Singular Value Decomposition — 4× in this paper
• Singular Value Decomposition (SVD) — 4× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Alignment Problem — 2× in this paper · explained in 1 episode
• Anisotropy — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• Generalizability — 2× in this paper · explained in 6 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Objective Function — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Active Exploration — 1× in this paper · explained in 2 episodes
• Aperture — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Pruning — 1× in this paper · explained in 4 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Verifier — 1× in this paper · explained in 2 episodes

Sources

• Towards Long Term SLAM on Thermal Imagery
• AnyThermal: Towards Learning Universal Representations for Thermal Perception

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