CPO: Change Robust Panorama to Point Cloud Localization. (arXiv:2207.05317v1 [cs.CV])

We present CPO, a fast and robust algorithm that localizes a 2D panorama with
respect to a 3D point cloud of a scene possibly containing changes. To robustly
handle scene changes, our approach deviates from conventional feature point
matching, and focuses on the spatial context provided from panorama images.
Specifically, we propose efficient color histogram generation and subsequent
robust localization using score maps. By utilizing the unique equivariance of
spherical projections, we propose very fast color histogram generation for a …

arxiv change cloud cv localization panorama