U-ViLAR achieves robust visual localization for autonomous driving by mapping features to BEV and applying perceptual uncertainty-guided association plus localization uncertainty-guided registration.
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U-ViLAR: Uncertainty-Aware Visual Localization for Autonomous Driving via Differentiable Association and Registration
U-ViLAR achieves robust visual localization for autonomous driving by mapping features to BEV and applying perceptual uncertainty-guided association plus localization uncertainty-guided registration.