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We leverage 3D Gaussian Splatting (3DGS) as a scene representation and propose a novel test-time camera pose refinement (CPR) framework, GS-CPR.
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography
Martin A Fischler and Robert C Bolles · 1981
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Complete solution classification for the perspective-three-point problem
Xiao-Shan Gao, Xiao-Rong Hou, Jianliang Tang, and Hang-Fei Cheng · 2003
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Real-time rgb-d camera relocalization
Ben Glocker, Shahram Izadi, Jamie Shotton, and Antonio Criminisi · 2013
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Scene coordinate regression forests for camera relocalization in rgb-d images
Jamie Shotton, Ben Glocker, Christopher Zach, Shahram Izadi, Antonio Criminisi, and Andrew Fitzgibbon · 2013
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Posenet: A convolutional network for real-time 6-dof camera relocalization
Alex Kendall, Matthew Grimes, and Roberto Cipolla · 2015
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24/7 place recognition by view synthesis
Akihiko Torii, Relja Arandjelovic, Josef Sivic, Masatoshi Okutomi, and Tomas Pajdla · 2015
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Netvlad: Cnn architecture for weakly supervised place recognition
Relja Arandjelovic, Petr Gronat, Akihiko Torii, Tomas Pajdla, and Josef Sivic · 2016
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Modelling uncertainty in deep learning for camera relocalization
Alex Kendall and Roberto Cipolla · 2016
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Efficient & effective prioritized matching for large-scale image-based localization
Torsten Sattler, Bastian Leibe, and Leif Kobbelt · 2016
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Structure-from-motion revisited
Johannes L Schonberger and Jan-Michael Frahm · 2016
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Learning to navigate the energy landscape
Julien Valentin, Angela Dai, Matthias Nießner, Pushmeet Kohli, Philip Torr, Shahram Izadi, and Cem Keskin · 2016
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Dsac-differentiable ransac for camera localization
Eric Brachmann, Alexander Krull, Sebastian Nowozin, Jamie Shotton, Frank Michel, Stefan Gumhold, and Carsten Rother · 2017
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End-to-end learning of deep visual representations for image retrieval
A. Gordo, J. Almazan, J. Revaud, and D. Larlus · 2017
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Geometric loss functions for camera pose regression with deep learning
Alex Kendall and Roberto Cipolla · 2017
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Large-scale image retrieval with attentive deep local features
Hyeonwoo Noh, Andre Araujo, Jack Sim, Tobias Weyand, and Bohyung Han · 2017
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Superpoint: Self-supervised interest point detection and description
Daniel DeTone, Tomasz Malisiewicz, and Andrew Rabinovich · 2018
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Inloc: Indoor visual localization with dense matching and view synthesis
Hajime Taira, Masatoshi Okutomi, Torsten Sattler, Mircea Cimpoi, Marc Pollefeys, Josef Sivic, Tomas Pajdla, and Akihiko Torii · 2018
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D2-net: A trainable cnn for joint description and detection of local features
Mihai Dusmanu, Ignacio Rocco, Tomas Pajdla, Marc Pollefeys, Josef Sivic, Akihiko Torii, and Torsten Sattler · 2019
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Pytorch: An imperative style, high-performance deep learning library
Adam Paszke, Sam Gross, Francisco Massa, Adam Lerer, James Bradbury, Gregory Chanan, Trevor Killeen, Zeming Lin, Natalia Gimelshein, Luca Antiga, et al · 2019
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R2d2: Reliable and repeatable detector and descriptor
Jerome Revaud, Cesar De Souza, Martin Humenberger, and Philippe Weinzaepfel · 2019
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From coarse to fine: Robust hierarchical localization at large scale
Paul-Edouard Sarlin, Cesar Cadena, Roland Siegwart, and Marcin Dymczyk · 2019
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Understanding the limitations of cnn-based absolute camera pose regression
Torsten Sattler, Qunjie Zhou, Marc Pollefeys, and Laura Leal-Taixe · 2019
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Atloc: Attention guided camera localization
Bing Wang, Changhao Chen, Chris Xiaoxuan Lu, Peijun Zhao, Niki Trigoni, and Andrew Markham · 2019
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Lamar: Benchmarking localization and mapping for augmented reality
Paul-Edouard Sarlin, Mihai Dusmanu, Johannes L Schönberger, Pablo Speciale, Lukas Gruber, Viktor Larsson, Ondrej Miksik, and Marc Pollefeys · 2022
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Accelerated coordinate encoding: Learning to relocalize in minutes using rgb and poses
Eric Brachmann, Tommaso Cavallari, and Victor Adrian Prisacariu · 2023
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3d gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
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Parallel inversion of neural radiance fields for robust pose estimation
Yunzhi Lin, Thomas Müller, Jonathan Tremblay, Bowen Wen, Stephen Tyree, Alex Evans, Patricio A Vela, and Stan Birchfield · 2023
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Lightglue: Local feature matching at light speed
Philipp Lindenberger, Paul-Edouard Sarlin, and Marc Pollefeys · 2023
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Self-supervising fine-grained region similarities for large-scale image localization
Yixiao Ge, Haibo Wang, Feng Zhu, Rui Zhao, and Hongsheng Li · 2020
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Superglue: Learning feature matching with graph neural networks
Paul-Edouard Sarlin, Daniel DeTone, Tomasz Malisiewicz, and Andrew Rabinovich · 2020
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Visual camera re-localization from rgb and rgb-d images using dsac
Eric Brachmann and Carsten Rother · 2021
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On the limits of pseudo ground truth in visual camera re-localisation
Eric Brachmann, Martin Humenberger, Carsten Rother, and Torsten Sattler · 2021
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Direct-posenet: absolute pose regression with photometric consistency
Shuai Chen, Zirui Wang, and Victor Prisacariu · 2021
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Learning multi-scene absolute pose regression with transformers
Yoli Shavit, Ron Ferens, and Yosi Keller · 2021
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Loftr: Detector-free local feature matching with transformers
Jiaming Sun, Zehong Shen, Yuang Wang, Hujun Bao, and Xiaowei Zhou · 2021
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Nerf-loc: Visual localization with conditional neural radiance field
Jianlin Liu, Qiang Nie, Yong Liu, and Chengjie Wang · 2023
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Crossfire: Camera relocalization on self-supervised features from an implicit representation
Arthur Moreau, Nathan Piasco, Moussab Bennehar, Dzmitry Tsishkou, Bogdan Stanciulescu, and Arnaud de La Fortelle · 2023
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icomma: Inverting 3d gaussians splatting for camera pose estimation via comparing and matching
Yuan Sun, Xuan Wang, Yunfan Zhang, Jie Zhang, Caigui Jiang, Yu Guo, and Fei Wang · 2023
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6dgs: 6d pose estimation from a single image and a 3d gaussian splatting model
Matteo Bortolon, Theodore Tsesmelis, Stuart James, Fabio Poiesi, and Alessio Del Bue · 2024
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Gsloc: Visual localization with 3d gaussian splatting
Kazii Botashev, Vladislav Pyatov, Gonzalo Ferrer, and Stamatios Lefkimmiatis · 2024
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Litevloc: Map-lite visual localization for image goal navigation
Jianhao Jiao, Jinhao He, Changkun Liu, Sebastian Aegidius, Xiangcheng Hu, Tristan Braud, and Dimitrios Kanoulas · 2024
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Grounding image matching in 3d with mast3r
Vincent Leroy, Yohann Cabon, and Jérôme Revaud · 2024
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Learning neural volumetric pose features for camera localization
Jingyu Lin, Jiaqi Gu, Bojian Wu, Lubin Fan, Renjie Chen, Ligang Liu, and Jieping Ye · 2024
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Hr-apr: Apr-agnostic framework with uncertainty estimation and hierarchical refinement for camera relocalisation
Changkun Liu, Shuai Chen, Yukun Zhao, Huajian Huang, Victor Prisacariu, and Tristan Braud · 2024
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Scaffold-gs: Structured 3d gaussians for view-adaptive rendering
Tao Lu, Mulin Yu, Linning Xu, Yuanbo Xiangli, Limin Wang, Dahua Lin, and Bo Dai · 2024
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The unreasonable effectiveness of pre-trained features for camera pose refinement
Gabriele Trivigno, Carlo Masone, Barbara Caputo, and Torsten Sattler · 2024
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Pnerfloc: Visual localization with point-based neural radiance fields
Boming Zhao, Luwei Yang, Mao Mao, Hujun Bao, and Zhaopeng Cui · 2024
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The nerfect match: Exploring nerf features for visual localization
Qunjie Zhou, Maxim Maximov, Or Litany, and Laura Leal-Taixé · 2024
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