@article{triangulanggeometryawaresemanticconsensu,
  title = {TrianguLang: Geometry-Aware Semantic Consensus for Pose-Free 3D Localization},
  author = {Bryce Grant and Aryeh Rothenberg and Atri Banerjee and Peng Wang},
  year = {2026},
  eprint = {2603.08096},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.08096},
}