LATITUDE: Robotic Global Localization with Truncated Dynamic Low-pass Filter in City-scale NeRF
Zhenxin Zhu,Yuantao Chen,Zirui Wu,Chao Hou,Yongliang Shi,Chuxuan Li,Pengfei Li,Hao Zhao,Guyue Zhou,Zhenxin Zhu,Yuantao Chen,Zirui Wu,Chao Hou,Yongliang Shi,Chuxuan Li,Pengfei Li,Hao Zhao,Guyue Zhou
Neural Radiance Fields (NeRFs) have made great success in representing complex 3D scenes with high-resolution details and efficient memory. Nevertheless, current NeRF - based pose estimators have no initial pose prediction and are prone to local optima during optimization. In this paper, we present LATITUDE: Global Localization with Truncated Dynamic Low-pass Filter, which introduces a two-stage l...
