FlatVPR: Plug-and-play Geo-linear Residual Adapter for Geometric Rectification of Foundation Model Feature Manifolds
IndustryAI 60
Source: arXiv cs.ROPublish time unverified
arXiv:2606.01734v2 Announce Type: replace-cross Abstract: This paper proposes ``FlatVPR,'' a novel geometric rectification paradigm that effectively bridges the trade-off between map lightweightness and localization accuracy in visual place recognition (VPR) by enforcing a feature manifold structure where any descriptor between two adjacent anchors $\mathbf{z}_A$ and $\mathbf{z}_B$ can be accurately reconstructed via linear interpolation $\hat{\mathbf{z}}_{pseudo} = (1-t)\mathbf{z}_A + t\mathbf{…