3D Surfel Map-Aided Visual Relocalization with Learned Descriptors
Haoyang Ye Huaiyang Huang Marco Hutter Timothy Sandy Ming Liu Haoyang Ye Huaiyang Huang Marco Hutter Timothy Sandy Ming Liu
In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D surfel map rendering, which provides associations between image points and 3D surfels. Surfel reprojection constraints are utilized to optimize the keyframe poses and map points in the visual database. A hierarchical cam...