Tianhao Xu

SAG-GNN: Semantic-Aware Guided GNN for Descriptor-Free 2D-3D Matching

Image-to-point cloud matching (2D-3D matching) establishes accurate correspondences between image keypoints and 3D points for 6-DoF camera pose estimation. Existing methods either suffer from poor generalization due to scene-specific coordinate regression requiring per-scene retraining, or incur hig