A topometric particle filter that uses visual place recognition embeddings and feed-forward 3D geometry achieves more accurate and compact vehicle localization than appearance-only baselines.
Toward a Unified Bayesian Approach to Hybrid Metric--Topological
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Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
A topometric particle filter that uses visual place recognition embeddings and feed-forward 3D geometry achieves more accurate and compact vehicle localization than appearance-only baselines.