CLIP-Loc: Multi-modal Landmark Association for Global Localization in Object-based Maps

This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching all possible combinations of detected objects and landmarks with the same object category, followed by inlier extraction using RANSAC or brute-force search. This approach becomes infeasible as the number of landmarks increases due to the exponential growth of correspondence candidates. In this paper, we propose labeling landmarks with natural …

association clip cs.cv cs.ro data extraction global images landmark loc localization maps modal multi-modal objects paper