Get camera position from image and 3D point clouds by match image patch to points with EP2P-Loc
Get camera position from image and 3D point clouds by match image patch to points with EP2P-Loc
EP2P-Loc: End-to-End 3D Point to 2D Pixel Localization for Large-Scale Visual Localization
arXiv paper abstract https://arxiv.org/abs/2309.07471
arXiv PDF paper https://arxiv.org/pdf/2309.07471.pdf
Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map ... but ... match the points of 3D point clouds with pixels in 2D images for visual localization remains challenging.
Existing ... 2D-3D feature matching ... low inliers due to representational differences between the two modalities, and the methods that bypass this problem into classification have an issue of poor refinement.
... propose EP2P-Loc, a novel large-scale visual localization method that mitigates such appearance discrepancy and enables end-to-end training for pose estimation.
To increase the number of inliers, ... propose a simple algorithm to remove invisible 3D points in the image, and find all 2D-3D correspondences without keypoint detection.
To reduce memory ... and search ... take a coarse-to-fine approach where ... extract patch-level features from 2D images, then perform 2D patch classification on each 3D point, and obtain ... corresponding 2D pixel coordinates through positional encoding ... employ a differentiable PnP for end-to-end training.
... method achieves the state-of-the-art performance compared to existing visual localization and image-to-point cloud registration methods.
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