mlsanityData to 7 Oct 2026

Retrieval and Localization with Observation Constraints

arXiv 2108.08516 ↗First posted 19 Aug 2021cs.CV cs.ROcited by 6

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Abstract (arXiv)

Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual re-localization method called RLOCS by combining image retrieval, semantic consistency and geometry verification to achieve accurate estimations. The localization pipeline is designed as a coarse-to-fine paradigm. In the retrieval part, we cascade the architecture of ResNet101-GeM-ArcFace and employ DBSCAN followed by spatial verification to obtain a better initial coarse pose. We design a module called observation constraints, which combines geometry information and semantic consistency for filtering outliers. Comprehensive experiments are conducted on open datasets, including retrieval on R-Oxford5k and R-Paris6k, semantic segmentation on Cityscapes, localization on Aachen Day-Night and InLoc. By creatively modifying separate modules in the total pipeline, our method achieves many performance improvements on the challenging localization benchmarks.

Key facts. Cited by 6 papers in the map (data through 7 Oct 2026). Builds on 32 of its 65 references that are in the map. First posted on arXiv 19 Aug 2021.

Builds on

32 of 65 references.

References · 32

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20 more
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Built on by

Cited by year

Citing papers per year: 2021: 1; 2022: 1; 2023: 1; 2024: 1; 2025: 2.

6 papers.

  1. 2024Local Feature Matching Using Deep Learning: A Surveycited by 26
  2. 2021Pose Refinement with Joint Optimization of Visual Points and Linescited by 14
  3. 2025UFM: Unified Feature Matching Pre-training with Multi-Modal Image Assistantscited by 1
  4. 2022A Real-Time Fusion Framework for Long-term Visual Localizationcited by 0
  5. 2023SGL: Structure Guidance Learning for Camera Localizationcited by 0
  6. 2025Multiview Image-Based Localizationcited by 0