UniT unifies online and offline 3D geometry perception via a Group Autoregressive Transformer that processes observation groups with anchor-free point map prediction and a scale-adaptive loss.
Map-free visual relocalization: Metric pose relative to a single image
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UniT: Unified Geometry Learning with Group Autoregressive Transformer
UniT unifies online and offline 3D geometry perception via a Group Autoregressive Transformer that processes observation groups with anchor-free point map prediction and a scale-adaptive loss.