2024/10/06 by Jiao, Jianhao, He, Jinhao, Liu, Changkun +4 · 1 citation
#Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2410.04419
This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine manner. Unlike mainstream approaches relying on detailed 3D representations, LiteVLoc reduces storage overhead by leveraging learning-based feature matching and geometric solvers for metric pose estimation. A novel dataset for the map-free relocalization task is also introduced. Extensive experiments including localization and navigation in both simulated and real-world scenarios have validate the system's performance and demonstrated its precision and efficiency for large-scale deployment. Code and data will be made publicly available.