Lazy Visual Localization via Motion Averaging

Understand

Visual (re)localization is critical for various applications in computer vision and robotics.

• Its goal is to estimate the 6 degrees of freedom (DoF) camera pose for each query image, based on a set of posed database images.
• Currently, all leading solutions are structure-based that either explicitly construct 3D metric maps from the database with structure-from-motion, or implicitly encode the 3D information with scene coordinate regression models.
• On the contrary, visual localization without reconstructing the scene in 3D offers clear benefits.