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weights_loftr.zip archive corresponds to the weights/loftr/ subfolder expected by the mbl_mars pipeline. Extract it and place the resulting loftr/ folder under weights/ in the repository root.| Path (after extraction) | Input | Description |
|---|---|---|
weights/loftr/V1/geo/ | Image triplet (observation, map patch, depth) | Geo-LoFTR model trained on MARTIAN data with HiRISE-like maps (0.25 m/px resolution) |
weights/loftr/V1/finetuned/ | Image pair (observation, map patch) | Original LoFTR model fine-tuned on MARTIAN data with HiRISE-like maps (0.25 m/px resolution) |
weights/loftr/pretrained/ | Image pair (observation, map patch) | Off-the-shelf LoFTR model trained on MegaDepth (see LoFTR repo) |
weights/loftr/geo_ctx/ (experimental) | Image triplet (observation, map patch, depth) | Geo-LoFTR fine-tuned on CTX-like maps (6 m/px resolution) for lower-resolution map matching |
weights_loftr.zip, extract it, and place the loftr/ folder under weights/ in the root of the mbl_mars repository:git clone https://github.com/nasa-jpl/mbl_mars.git1@misc{pisanti2026geometryaidedvisionbasedlocalizationfuture,
2 title={Geometry-aided Vision-based Localization of Future Mars Helicopters in Challenging Illumination Conditions},
3 author={Dario Pisanti and Robert Hewitt and Roland Brockers and Georgios Georgakis},
4 year={2026},
5 eprint={2502.09795},
6 archivePrefix={arXiv},
7 primaryClass={cs.CV},
8 url={https://arxiv.org/abs/2502.09795},
9}Copyright 2026, by the California Institute of Technology. ALL RIGHTS RESERVED.
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