mlsanityData to 14 Oct 2026

MegLoc: A Robust and Accurate Visual Localization Pipeline

arXiv 2111.13063 ↗First posted 25 Nov 2021cs.CVcited by 10

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Abstract (arXiv)

In this paper, we present a visual localization pipeline, namely MegLoc, for robust and accurate 6-DoF pose estimation under varying scenarios, including indoor and outdoor scenes, different time across a day, different seasons across a year, and even across years. MegLoc achieves state-of-the-art results on a range of challenging datasets, including winning the Outdoor and Indoor Visual Localization Challenge of ICCV 2021 Workshop on Long-term Visual Localization under Changing Conditions, as well as the Re-localization Challenge for Autonomous Driving of ICCV 2021 Workshop on Map-based Localization for Autonomous Driving.

Key facts. Cited by 10 papers in the map (data through 14 Oct 2026). Builds on 19 of its 27 references that are in the map. First posted on arXiv 25 Nov 2021.

Builds on

19 of 27 references.

References · 19

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  2. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,177
  3. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,444
  4. 2018Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentationcited by 3,223
  5. 2017Deformable Convolutional Networkscited by 1,488
  6. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,443
  7. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,320
  8. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,232
  9. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 941
  10. 2018MegaDepth: Learning Single-View Depth Prediction from Internet Photoscited by 737
  11. 2018Deformable ConvNets v2: More Deformable, Better Resultscited by 670
  12. 2021Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognitioncited by 238
7 more
  1. 2019Learning with Average Precision: Training Image Retrieval with a Listwise Losscited by 185
  2. 2015Particular object retrieval with integral max-pooling of CNN activationscited by 161
  3. 2020ASLFeat: Learning Local Features of Accurate Shape and Localizationcited by 130
  4. 2020Self-supervising Fine-grained Region Similarities for Large-scale Image Localizationcited by 110
  5. 2020Robust Image Retrieval-based Visual Localization using Kapturecited by 66
  6. 20204Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Drivingcited by 51
  7. 2021Method Towards CVPR 2021 Image Matching Challengecited by 2

Built on by

Cited by year

Citing papers per year: 2022: 2; 2023: 5; 2024: 1; 2025: 2.

10 papers.

  1. 2023SNAP: Self-Supervised Neural Maps for Visual Positioning and Semantic Understandingcited by 38
  2. 2023Visual Localization using Imperfect 3D Models from the Internetcited by 20
  3. 2022One is All: Bridging the Gap Between Neural Radiance Fields Architectures with Progressive Volume Distillationcited by 18
  4. 2022Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Camerascited by 16
  5. 2023Self-Supervised Learning for Place Representation Generalization across Appearance Changescited by 4
  6. 2023Progressive Volume Distillation with Active Learning for Efficient NeRF Architecture Conversioncited by 3
  7. 2025Co-VisiON: Co-Visibility ReasONing on Sparse Image Sets of Indoor Scenescited by 2
  8. 2023CyberLoc: Towards Accurate Long-term Visual Localizationcited by 0
  9. 2024FUSELOC: Fusing Global and Local Descriptors to Disambiguate 2D-3D Matching in Visual Localizationcited by 0
  10. 2025Robust Scene Coordinate Regression via Geometrically-Consistent Global Descriptorscited by 0