VISTA localizes a robot in another robot's map by tracking object segments and matching geometrically consistent submap cliques, showing robustness to seasonal and oblique-view appearance changes without fine-tuning.
Bags of binary words for fast place recognition in image sequences,
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VISTA: Monocular Segmentation-Based Mapping for Appearance and View-Invariant Global Localization
VISTA localizes a robot in another robot's map by tracking object segments and matching geometrically consistent submap cliques, showing robustness to seasonal and oblique-view appearance changes without fine-tuning.