AIR-HLoc: Adaptive Image Retrieval for Efficient Visual Localisation

arXiv:2403.18281v1 Announce Type: new
Abstract: State-of-the-art (SOTA) hierarchical localisation pipelines (HLoc) rely on image retrieval (IR) techniques to establish 2D-3D correspondences by selecting the $k$ most similar images from a reference image database for a given query image. Although higher values of $k$ enhance localisation robustness, the computational cost for feature matching increases linearly with $k$. In this paper, we observe that queries that are the most similar to images in the database result in a higher proportion of feature …

abstract art arxiv computational cost cs.cv database feature hierarchical image images pipelines query reference retrieval robustness sota state type values visual