mlsanityData to 14 Oct 2026

Privacy Preserving Image-Based Localization

arXiv 1903.05572 ↗First posted 13 Mar 2019cs.CVcited by 47

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Abstract (arXiv)

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose estimation, but such data reveals potentially sensitive scene information. This gives rise to significant privacy risks, especially as for many applications 3D mapping is a background process that the user might not be fully aware of. We pose the following question: How can we avoid disclosing confidential information about the captured 3D scene, and yet allow reliable camera pose estimation? This paper proposes the first solution to what we call privacy preserving image-based localization. The key idea of our approach is to lift the map representation from a 3D point cloud to a 3D line cloud. This novel representation obfuscates the underlying scene geometry while providing sufficient geometric constraints to enable robust and accurate 6-DOF camera pose estimation. Extensive experiments on several datasets and localization scenarios underline the high practical relevance of our proposed approach.

Key facts. Cited by 47 papers in the map (data through 14 Oct 2026). First posted on arXiv 13 Mar 2019.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 5; 2022: 5; 2023: 10; 2024: 7; 2025: 11; 2026: 9.

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  1. 2023Accelerated Coordinate Encoding: Learning to Relocalize in Minutes using RGB and Posescited by 107
  2. 2022LaMAR: Benchmarking Localization and Mapping for Augmented Realitycited by 100
  3. 2023OrienterNet: Visual Localization in 2D Public Maps with Neural Matchingcited by 84
  4. 2023An Outlook into the Future of Egocentric Visioncited by 84
  5. 2022Is Geometry Enough for Matching in Visual Localization?cited by 48
  6. 2023SNAP: Self-Supervised Neural Maps for Visual Positioning and Semantic Understandingcited by 38
  7. 2025MP-SfM: Monocular Surface Priors for Robust Structure-from-Motioncited by 26
  8. 2021NinjaDesc: Content-Concealing Visual Descriptors via Adversarial Learningcited by 21
  9. 2021How Privacy-Preserving are Line Clouds? Recovering Scene Details from 3D Linescited by 19
  10. 2023Deep Learning for Visual Localization and Mapping: A Surveycited by 14
  11. 2024LoD-Loc: Aerial Visual Localization using LoD 3D Map with Neural Wireframe Alignmentcited by 13
  12. 2021NYU-VPR: Long-Term Visual Place Recognition Benchmark with View Direction and Data Anonymization Influencescited by 12
35 more
  1. 2024Fully Geometric Panoramic Localizationcited by 11
  2. 2021Analysis and Mitigations of Reverse Engineering Attacks on Local Feature Descriptorscited by 10
  3. 2023LDP-Feat: Image Features with Local Differential Privacycited by 10
  4. 2025Gaussian Splatting Feature Fields for Privacy-Preserving Visual Localizationcited by 10
  5. 2023Privacy-Preserving Representations are not Enough -- Recovering Scene Content from Camera Posescited by 7
  6. 2022Progressive Cross-modal Knowledge Distillation for Human Action Recognitioncited by 6
  7. 2022Privacy-Preserving Visual Localization with Event Camerascited by 6
  8. 2024Obfuscation Based Privacy Preserving Representations are Recoverable Using Neighborhood Informationcited by 6
  9. 2024Improved Scene Landmark Detection for Camera Localizationcited by 4
  10. 2025EgoPrivacy: What Your First-Person Camera Says About You?cited by 4
  11. 2023LDL: Line Distance Functions for Panoramic Localizationcited by 3
  12. 2023Active Visual Localization for Multi-Agent Collaboration: A Data-Driven Approachcited by 3
  13. 2024Representing 3D sparse map points and lines for camera relocalizationcited by 3
  14. 2024Lifelong Learning and Selective Forgetting via Contrastive Strategycited by 3
  15. 2024Reprojection Errors as Prompts for Efficient Scene Coordinate Regressioncited by 3
  16. 2025A2-GNN: Angle-Annular GNN for Visual Descriptor-free Camera Relocalizationcited by 3
  17. 2025Can we make NeRF-based visual localization privacy-preserving?cited by 3
  18. 2025Remove360: Benchmarking Residuals After Object Removal in 3D Gaussian Splattingcited by 2
  19. 2023The Need for Inherently Privacy-Preserving Vision in Trustworthy Autonomous Systemscited by 1
  20. 2025Is there anything left? Measuring semantic residuals of objects removed from 3D Gaussian Splattingcited by 1
  21. 20254D3R: Motion-Aware Neural Reconstruction and Rendering of Dynamic Scenes from Monocular Videoscited by 1
  22. 2026Depth-Guided Privacy-Preserving Visual Localization Using 3D Sphere Cloudscited by 1
  23. 2021Improving the Behaviour of Vision Transformers with Token-consistent Stochastic Layerscited by 0
  24. 2022Learning to Censor by Noisy Samplingcited by 0
  25. 2025Multiview Image-Based Localizationcited by 0
  26. 2025RL-MoE: An Image-Based Privacy Preserving Approach In Intelligent Transportation Systemcited by 0
  27. 2025A Distributed Framework for Privacy-Enhanced Vision Transformers on the Edgecited by 0
  28. 2026PPEDCRF: Privacy-Preserving Enhanced Dynamic CRF for Location-Privacy Protection for Sequence Videos with Minimal Detection Degradationcited by 0
  29. 2026Privacy-Preserving Structureless Visual Localization via Image Obfuscationcited by 0
  30. 2026PPEDCRF: Dynamic-CRF-Guided Selective Perturbation for Background-Based Location Privacy in Video Sequencescited by 0
  31. 2026Revisiting Geometric Obfuscation with Dual Convergent Lines for Privacy-Preserving Image Queries in Visual Localizationcited by 0
  32. 2026Seeing Through the Weights: Privacy Leakage in Scene Coordinate Regressioncited by 0
  33. 2026GeoMix: Descriptor-Free Visual Localization via Global Context and Multi-Detector Trainingcited by 0
  34. 2026TrustCLIP: Learning Private Visual Features via Adversarial Reconstructioncited by 0
  35. 2026Misanthrope: A Privacy-Preserving Keypoint Detectorcited by 0