Reuse your features: unifying retrieval and feature-metric alignment
Javier Morlana,J.M.M. Montiel,Javier Morlana,J.M.M. Montiel
We propose a compact pipeline to unify all the steps of Visual Localization: image retrieval, candidate re-ranking and initial pose estimation, and camera pose refinement. Our key assumption is that the deep features used for these individual tasks share common characteristics, so we should reuse them in all the procedures of the pipeline. Our DRAN (Deep Retrieval and image Alignment Network) is a...
