G-PROBE: Cross-FOV Place Recognition and Certainty-Coupled Localization for 3D Point Clouds

arXiv:2607.06782v1 Announce Type: new Abstract: Global localization from 3D point clouds remains challenging under limited or asymmetric fields of view (FOV), which fail to provide the dense, symmetric coverage that place recognition methods assume. We present G-PROBE, a learning-free global localization framework that removes this assumption. A virtual sensor decomposition runs the same pipeline, by design, on configurations ranging from a narrow-FOV sensor to a panoramic or multi-sensor rig. T...