Abstract: Pose graph optimization (PGO) is a fundamental technique for robot localization. It is typically encoded with a sparse graph. The recent work on the cycle-based PGO reveals the merits of ...

We provide the pre-trained diffusion model (with CPN-dected 2D Pose as input) here. To evaluate it, put it into the ./checkpoint directory and run: CUDA_VISIBLE_DEVICES=0 python main_diffpose_frame.py ...