نسخة أولية وصول مفتوح
PARC-Loc: Text-to-Point-Cloud Localization with Partial Assignment and Relational Consistency
Text-to-point-cloud localization estimates a position in a city-scale 3D map from descriptions of surrounding objects. Existing coarse-to-fine methods retrieve submaps using aggregate learned compatibility and then localize within a selected submap. However, repetitive or similar urban objects can inflate the embedding …