MB-Loc: Multi-planar Bird's-eye-view Localization in outdoor LiDAR scenes
Global LiDAR localization is a fundamental task for autonomous navigation systems. Recent methods perform Scene Coordinate Regression (SCR) and achieve superior accuracy over Absolute Pose Regression (APR) solutions by predicting dense 3D world coordinates. However, SCR approaches introduce two major bottlenecks: severe computational inefficiency from processing raw 3D geometries and significant performance degradation under varying sensor viewpoints. To address these limitations, we present MB-Loc, a lightweight and viewpoint-robust SCR framework. Instead of relying on heavy 3D convolutions, we project the input LiDAR scan into a 2.5D Multi-planar Bird's-Eye View (BEV) representation. By...
| Authors | Ayaan Choudhury, Preet Savalia, Anirudh Pydah et al. |
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| Primary category | cs.CV |
| Published | 7 June 2026 |
| Last updated at source | 10 June 2026 |
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