2022
LASER: LAtent SpacE Rendering for 2D Visual Localization
Zhixiang Min, Naji Khosravan, Zachary Bessinger, Manjunath Narayana, Sing Bing Kang, Enrique Dunn +1
CVPR 2022oral
We present LASER, an image-based Monte Carlo Localization (MCL) framework for 2D floor maps. LASER introduces the concept of latent space rendering, where 2D pose hypotheses on the floor map are directly rendered into a geometrically-structured latent space by aggregating viewing ray features. Throu…