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Improving Feature-based Visual Localization by Geometry-Aided Matching

2022-11-16 07:02:12
Hailin Yu, Youji Feng, Weicai Ye, Mingxuan Jiang, Hujun Bao, Guofeng Zhang

Abstract

Feature matching is an essential step in visual localization, where the accuracy of camera pose is mainly determined by the established 2D-3D correspondence. Due to the noise, solving the camera pose accurately requires a sufficient number of well-distributed 2D-3D correspondences. Existing 2D-3D feature matching is typically achieved by finding the nearest neighbors in the feature space, and then removing the outliers by some hand-crafted heuristics. However, this may lead to a large number of potentially true matches being missed or the established correct matches being filtered out. In this work, we introduce a novel 2D-3D matching method, Geometry-Aided Matching (GAM), which uses both appearance information and geometric context to improve 2D-3D feature matching. GAM can greatly strengthen the recall of 2D-3D matches while maintaining high precision. We insert GAM into a hierarchical visual localization pipeline and show that GAM can effectively improve the robustness and accuracy of localization. Extensive experiments show that GAM can find more correct matches than hand-crafted heuristics and learning baselines. Our proposed localization method achieves state-of-the-art results on multiple visual localization datasets. Experiments on Cambridge Landmarks dataset show that our method outperforms the existing state-of-the-art methods and is six times faster than the top-performed method.

Abstract (translated)

URL

https://arxiv.org/abs/2211.08712

PDF

https://arxiv.org/pdf/2211.08712.pdf


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