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arXiv 提交日期: 2026-03-31
📄 Abstract - Hierarchical Visual Relocalization with Nearest View Synthesis from Feature Gaussian Splatting

Visual relocalization is a fundamental task in the field of 3D computer vision, estimating a camera's pose when it revisits a previously known scene. While point-based hierarchical relocalization methods have shown strong scalability and efficiency, they are often limited by sparse image observations and weak feature matching. In this work, we propose SplatHLoc, a novel hierarchical visual relocalization framework that uses Feature Gaussian Splatting as the scene representation. To address the sparsity of database images, we propose an adaptive viewpoint retrieval method that synthesizes virtual candidates with viewpoints more closely aligned with the query, thereby improving the accuracy of initial pose estimation. For feature matching, we observe that Gaussian-rendered features and those extracted directly from images exhibit different strengths across the two-stage matching process: the former performs better in the coarse stage, while the latter proves more effective in the fine stage. Therefore, we introduce a hybrid feature matching strategy, enabling more accurate and efficient pose estimation. Extensive experiments on both indoor and outdoor datasets show that SplatHLoc enhances the robustness of visual relocalization, setting a new state-of-the-art.

顶级标签: computer vision systems model evaluation
详细标签: visual relocalization gaussian splatting pose estimation view synthesis feature matching 或 搜索:

基于特征高斯溅射与最近邻视图合成的分层视觉重定位 / Hierarchical Visual Relocalization with Nearest View Synthesis from Feature Gaussian Splatting


1️⃣ 一句话总结

这篇论文提出了一个名为SplatHLoc的新方法,它通过一种特殊的3D场景建模技术来合成虚拟视角,并结合两种特征匹配策略的优势,从而更准确、更鲁棒地估计相机在已知场景中的位置和朝向。

源自 arXiv: 2603.29185