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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