Maurice F. Fallon

DRS-VPT: Directly Relocalizing in a Scan with Vision Point Transformers

We present DRS-VPT, a feed-forward transformer architecture for foundational image-to-scan registration. Given query images and a reference 3D point cloud, the model predicts the scan pose and point map alongside the poses and point maps of each camera, all expressed in the first camera's frame. It additionally predict...