VLM-GLoc is a hierarchical semantic Monte Carlo Localization system that uses VLMs for discriminative observations and inverse text-to-map proposals, reporting 70% and 74% success in a grocery store and lab respectively.
ISSN: 1050-4729
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VLM-GLoc: Vision-Language Model Enhanced Monte Carlo Localization for Robust Semantic Global Localization in Cluttered Quasi-Static Environments
VLM-GLoc is a hierarchical semantic Monte Carlo Localization system that uses VLMs for discriminative observations and inverse text-to-map proposals, reporting 70% and 74% success in a grocery store and lab respectively.