ULF-Loc removes bias from 3DGS landmark features via geometry-weighted fusion and consistency checks, cutting median translation error 17% while using 1/10 training time and 1/6 GPU memory of prior state-of-the-art.
Dgc-gnn: Leveraging geometry and color cues for visual descriptor- free 2d-3d matching
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ULF-Loc: Unbiased Landmark Feature for Robust Visual Localization with 3D Gaussian Splatting
ULF-Loc removes bias from 3DGS landmark features via geometry-weighted fusion and consistency checks, cutting median translation error 17% while using 1/10 training time and 1/6 GPU memory of prior state-of-the-art.