A learning-free cross-FOV ensemble plus certainty-coupled GICP keeps place recognition and 6-DoF localization usable under extreme FOV asymmetry and wide-to-narrow cross-sensor pairing where prior methods collapse.
BEVPlace++: Fast, robust, and lightweight LiDAR global localization for unmanned ground vehicles,
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G-PROBE: Cross-FOV Place Recognition and Certainty-Coupled Localization for 3D Point Clouds
A learning-free cross-FOV ensemble plus certainty-coupled GICP keeps place recognition and 6-DoF localization usable under extreme FOV asymmetry and wide-to-narrow cross-sensor pairing where prior methods collapse.