G2IA: Geometry-Guided Instance-Aware Retrieval and Refinement for Cross-Modal Place Recognition
Cross-modal place recognition (CMPR) enables camera-only robots to localize against pre-built LiDAR maps in autonomous navigation scenarios. This image-to-point-cloud setting is challenged by two coupled ambiguities: the modality gap between perspective RGB appearance and sparse metric geometry, and perceptual aliasing among urban places with similar roads, facades, intersections, and object arrangements. Instead of treating CMPR as a single global descriptor matching problem, we argue that reliable retrieval requires both geometry-aware representation alignment and fine-grained candidate verification. In this paper, we propose G2IA, a geometry-guided instance-aware framework for image-to...
| Authors | Xianyun Jiao, Jingyi Xu, Zhongmiao Yan et al. |
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| Primary category | cs.CV |
| Published | 13 June 2026 |
| Last updated at source | 13 June 2026 |
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