LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization

Understand

We present LM-Reloc -- a novel approach for visual relocalization based on direct image alignment.

• In contrast to prior works that tackle the problem with a feature-based formulation, the proposed method does not rely on feature matching and RANSAC.
• Hence, the method can utilize not only corners but any region of the image with gradients.
• In particular, we propose a loss formulation inspired by the classical Levenberg-Marquardt algorithm to train LM-Net.