Paper

Communication-Efficient Relative Pose Estimation with Vision Foundation Models for Ephemeral Collaborative Perception

arXiv:2607.14539v1 Announce Type: new Abstract: Relative pose estimation is a fundamental capability for collaborative perception and coordination in multi-robot systems. However, robots encountering each other in real-world environments often operate in short interaction windows and must operate under limited communication bandwidth with intermittent or missing visual overlap caused by occlusions or limited fields of view. Existing approaches typically rely on global reference frames, assume sustained view overlap, or incur prohibitive communication costs, thereby limiting their applicabilit…

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