ReLoc: Rethinking Scene Coordinate Regression Architecture for Robust Outdoor LiDAR-based Localization

arXiv:2609.33344 · cs.CV · Submitted 2026-09-27 · Read on arXiv

cs.CV

Submitted: 2026-09-27

Updated: 2026-09-27

Comments: Accepted to IROS 2026

Code: https://github.com/SpatialAILab/ReLoc

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

Terminology

• Embeddings — 18× in this paper · explained in 2 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Accuracy — 9× in this paper · explained in 1 episode
• Scene Coordinate Regression — 6× in this paper
• Regularization — 4× in this paper · explained in 3 episodes
• Ablation Studies — 3× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Attention Mechanism — 3× in this paper · explained in 2 episodes
• Cosine Similarity — 3× in this paper · explained in 3 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Loss Function — 2× in this paper · explained in 2 episodes
• Two-Stage Training Strategy — 2× in this paper · explained in 3 episodes
• Two-stage training — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Communication Overhead — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Knowledge Distillation — 1× in this paper · explained in 11 episodes
• LiDAR Absolute Pose Regression — 1× in this paper
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Self-Supervised Learning — 1× in this paper · explained in 7 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

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