From LiDAR Maps to Visual Localization: Unified Visual Association for Robust Point-Line-Plane Pose Estimation

arXiv:2609.27363 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

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

Terminology

Provenance — 12× in this paper · explained in 3 episodes
Verification — 4× in this paper · explained in 2 episodes
Accuracy — 3× in this paper · explained in 1 episode
Aggregation — 3× in this paper · explained in 1 episode
Benchmark — 3× in this paper · explained in 2 episodes
Consistency — 3× in this paper · explained in 3 episodes
Ablation — 2× in this paper · explained in 1 episode
Modality Gap — 2× in this paper · explained in 4 episodes
Optimal Transport — 2× in this paper · explained in 5 episodes
Unified Framework — 2× in this paper · explained in 5 episodes
Adaptability — 1× in this paper · explained in 1 episode
Alignment — 1× in this paper · explained in 1 episode
Degeneracy — 1× in this paper · explained in 3 episodes
Fine-Tuning — 1× in this paper · explained in 5 episodes
International Conference on Robotics and Automation — 1× in this paper
Point Clouds — 1× in this paper · explained in 2 episodes
Robustness — 1× in this paper · explained in 5 episodes
Transferability — 1× in this paper · explained in 4 episodes
Transformer — 1× in this paper · explained in 2 episodes

Sources

SALT: A Flexible Semi-Automatic Labeling Tool for General LiDAR Point Clouds with Cross-Scene Adaptability and 4D Consistency

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