PRAM: Place Recognition Anywhere Model for Efficient Visual Localization

arXiv:2404.07785v1 Announce Type: new
Abstract: Humans localize themselves efficiently in known environments by first recognizing landmarks defined on certain objects and their spatial relationships, and then verifying the location by aligning detailed structures of recognized objects with those in the memory. Inspired by this, we propose the place recognition anywhere model (PRAM) to perform visual localization as efficiently as humans do. PRAM consists of two main components - recognition and registration. In detail, first of all, a self-supervised map-centric landmark …

abstract arxiv cs.cv cs.ro environments humans localization location memory objects recognition relationships spatial type visual