Author

Cheng-Lu Wen

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Preprint Aug 2026

LightLoc++: Sensor-Robust Representation Learning for Efficient Outdoor LiDAR Localization

Scene coordinate regression (SCR) achieves strong performance in outdoor LiDAR localization, but it usually requires scene-specific training that can take days, limiting practical deployment. Recent works improve training efficiency by decoupling SCR into a scene-agnostic backbone and scene-specific prediction heads, w...

Wen Li, Shang-Shu Yu, Dunqiang Liu et al. · 0 citations

Preprint Sep 2026

Unsupervised Point Cloud Registration via Training-Time Semantic Guidance

CAESAR, a teacher-student framework guided by an off-the-shelf 3D segmentation model exclusively during training, is proposed and Semantic Predictive Distillation is introduced to consolidate the student's semantic awareness in the feature space.

Kezheng Xiong, Shi-Yun Xu, Sheng Ao et al. · 0 citations