visual-localization

Visual localization made easy with hloc

Pixel-Perfect Structure-from-Motion with Featuremetric Refinement (ICCV 2021, Best Student Paper Award)

🔥SLAM, VIsual localization, keypoint detection, Image matching, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code

🤗 image matching webui

D2-Net: A Trainable CNN for Joint Description and Detection of Local Features

A toolbox for mapping and localization with line features.

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

kapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.

A framework to easily use 32 (and growing) different image matching methods

[CVPR 2023 - Highlight] Accelerated Coordinate Encoding (ACE): Learning to Relocalize in Minutes using RGB and Poses

A curated list of awesome visual localization research works.

Provide mapping and localization pipelines based on kapture format

Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localization (Line Transformer)

[IROS 2024] Representing 3D sparse map points and lines for camera relocalization; [Arxiv 2025] Improved 3D Point-Line Mapping Regression for Camera Relocalization

[AAAI2023] TopicFM: Robust, Efficient, and Interpretable Topic-Assisted Feature Matching

GSV-Cities: a large-scale dataset for visual place recognition

[CVPR2024 Oral] Learning to Produce Semi-dense Correspondences for Visual Localization

[CVPR'22] CrossLoc localization: a cross-modal visual representation learning method for absolute localization

Neural Reprojection Error: Merging Feature Learning and Camera Pose Estimation (CVPR 2021)

[CVPR 2024] GLACE: Global Local Accelerated Coordinate Encoding