Desc++: Efficient Descriptor Enhancement for Data Association in Existing Visual SLAM Systems
Reliable visual data association is fundamental to visual SLAM (V-SLAM), as it directly determines the quality of the camera pose estimation and map consistency. However, the handcrafted descriptors used by most mature real-time systems degrade under illumination and viewpoint changes, while learning-based front-ends that address this weakness typically require replacing the extraction-and-matching pipeline and introduce substantial computational overhead. Descriptor enhancement offers a compromise by refining existing descriptors within their original format, yet current methods rely on simplified attention mechanisms whose limited contextual modeling constrains the achievable matching q...
| Authors | Ting-Wei Ou, Huang-Ting Lin, Kuu-Young Young |
|---|---|
| Primary category | cs.RO |
| Published | 13 July 2026 |
| Last updated at source | 20 September 2026 |
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