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Found 2 papers, 1 papers with code
ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description
It is compact because it relies on a low-dimensional latent representation of implicit object shape, allowing onboard storage of large multi-category object maps.
Deep Keypoint-Based Camera Pose Estimation with Geometric Constraints
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier rejection have been a dominant choice for over a decade.
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