GESS introduces joint semantic-normal and depth stability prediction heads, the SDAK keypoint mechanism, and the UTCF descriptor fusion module to leverage multi-cue synergy for improved robustness and discriminability.
Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras,
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GESS: Multi-cue Guided Local Feature Learning via Geometric and Semantic Synergy
GESS introduces joint semantic-normal and depth stability prediction heads, the SDAK keypoint mechanism, and the UTCF descriptor fusion module to leverage multi-cue synergy for improved robustness and discriminability.