DFNet: Enhance Absolute Pose Regression with Direct Feature Matching

Understand

We introduce a camera relocalization pipeline that combines absolute pose regression (APR) and direct feature matching.

• By incorporating exposure-adaptive novel view synthesis, our method successfully addresses photometric distortions in outdoor environments that existing photometric-based methods fail to handle.
• With domain-invariant feature matching, our solution improves pose regression accuracy using semi-supervised learning on unlabeled data.
• In particular, the pipeline consists of two components: Novel View Synthesizer and DFNet.