COMPASS: COmpact Multi-channel Prior-map And Scene Signature for Floor-Plan-Based Visual Localization
Architectural floor plans are widely available priors which contain not only geometry but also the semantic information of the environment, yet existing localization methods largely ignore this semantic information. To address this, we present COMPASS, an algorithm that exploits both geometric and semantic priors from floor plans to estimate the pose of a robot equipped with dual fisheye cameras. Inspired by scan context descriptor from LiDAR-based place recognition, we design a multi-channel radial descriptor that encodes the geometric layout surrounding a position. From the floor plan, rays are cast in 360 azimuth bins and the results are encoded into five channels: normalized range, st...
| Authors | Muhammad Shaheer, Miguel Fernandez-Cortizas, Asier Bikandi-Noya et al. |
|---|---|
| Primary category | cs.CV |
| Published | 28 April 2026 |
| Last updated at source | 28 April 2026 |
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