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PosEviLoc: Position-Conditioned Spatial Evidence for Language-Based 3D Localization

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Language-based 3D localization retrieves the point-cloud submap containing a target position from descriptions of nearby objects and their spatial relations. Existing methods typically compress queries and submaps into global descriptors, potentially obscuring object-level semantics and cross-description spatial coherence. We propose Position-Conditioned Evidence Localization (PosEviLoc), a query-position-aware framework for coarse text-to-point-cloud localization. Instead of relying on global matching, PosEviLoc evaluates each candidate submap using explicit semantic and spatial evidence. It

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