Fully Geometric Panoramic Localization

arXiv:2403.19904v1 Announce Type: new
Abstract: We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system mitigates potential privacy breaches or domain discrepancies by avoiding trained or hand-crafted visual descriptors. However, as lines alone can be ambiguous, we express distinctive yet compact spatial contexts from relationships between lines, namely the dominant directions of parallel lines …

arxiv cs.cv localization type