Globalizing Local Features: Image Retrieval Using Shared Local Features with Pose Estimation for Faster Visual Localization
Wenzheng Song,Ran Yan,Boshu Lei,Takayuki Okatani,Wenzheng Song,Ran Yan,Boshu Lei,Takayuki Okatani
Visual localization is an important sub-task in SfM and visual SLAM that involves estimating a 6-DoF camera pose for an input query image relative to a given 3D model of the environment. The most accurate approach is a hierarchical one that splits the task into two stages: image retrieval and camera pose estimation. Each stage requires different image features, with global features compactly encod...
