arXiv (OAI Expanded)
open access
DRS-VPT: Directly Relocalizing in a Scan with Vision Point Transformers
We present DRS-VPT, a feed-forward transformer architecture for foundational image-to-scan registration. Given query images and a reference 3D point cloud, the model predicts the scan pose and point map alongside the poses and point maps of each camera, all expressed in the first camera's frame. It
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