EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalization

arXiv:2402.13537v1 Announce Type: new
Abstract: Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent strides use deep learning for direct end-to-end pose estimation. We propose EffLoc, a novel efficient Vision Transformer for single-image camera relocalization. EffLoc's hierarchical layout, memory-bound self-attention, and feed-forward layers boost memory efficiency and inter-channel communication. Our introduced sequential group attention (SGA) module enhances …

abstract applications arxiv autonomous autonomous driving computer computer vision cs.cv deep learning driving drones images novel pivotal robotics slam transformer type vision