mlsanityData to 7 Oct 2026

CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation

arXiv 2303.04869 ↗First posted 8 Mar 2023cs.CVcited by 45

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Abstract (arXiv)

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for this representation. The proposed method enables to compute in real-time the precise position of a device using a single RGB camera, during its navigation. In contrast with previous work, we do not rely on pose regression or photometric alignment but rather use dense local features obtained through volumetric rendering which are specialized on the scene with a self-supervised objective. As a result, our algorithm is more accurate than competitors, able to operate in dynamic outdoor environments with changing lightning conditions and can be readily integrated in any volumetric neural renderer.

Key facts. Cited by 45 papers in the map (data through 7 Oct 2026). Builds on 39 of its 60 references that are in the map. First posted on arXiv 8 Mar 2023.

Builds on

39 of 60 references.

References · 39

  1. 2018MobileNetV2: Inverted Residuals and Linear Bottleneckscited by 4,773
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  3. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,313
  4. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
  5. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  6. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  7. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 720
  8. 2021RegNeRF: Regularizing Neural Radiance Fields for View Synthesis from Sparse Inputscited by 614
  9. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  10. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 556
  11. 2021Neural Fields in Visual Computing and Beyondcited by 539
  12. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
27 more
  1. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  2. 2017HPatches: A benchmark and evaluation of handcrafted and learned local descriptorscited by 261
  3. 2021Back to the Feature: Learning Robust Camera Localization from Pixels to Posecited by 199
  4. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  5. 2019Understanding the Limitations of CNN-based Absolute Camera Pose Regressioncited by 177
  6. 2022DKM: Dense Kernelized Feature Matching for Geometry Estimationcited by 174
  7. 2021Vision-Only Robot Navigation in a Neural Radiance Worldcited by 153
  8. 2019SOSNet: Second Order Similarity Regularization for Local Descriptor Learningcited by 131
  9. 2021LENS: Localization enhanced by NeRF synthesiscited by 116
  10. 2015Learning to Compare Image Patches via Convolutional Neural Networkscited by 109
  11. 2020Learning Feature Descriptors using Camera Pose Supervisioncited by 104
  12. 2022NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fieldscited by 86
  13. 2016Universal Correspondence Networkcited by 82
  14. 2022DFNet: Enhance Absolute Pose Regression with Direct Feature Matchingcited by 82
  15. 2022Loc-NeRF: Monte Carlo Localization using Neural Radiance Fieldscited by 69
  16. 2022MeshLoc: Mesh-Based Visual Localizationcited by 62
  17. 2021Direct-PoseNet: Absolute Pose Regression with Photometric Consistencycited by 61
  18. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  19. 2020GOCor: Bringing Globally Optimized Correspondence Volumes into Your Neural Networkcited by 53
  20. 2023Renderable Neural Radiance Map for Visual Navigationcited by 51
  21. 2021Viewpoint Invariant Dense Matching for Visual Geolocalizationcited by 36
  22. 2021CoordiNet: uncertainty-aware pose regressor for reliable vehicle localizationcited by 34
  23. 2019GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalizationcited by 32
  24. 2018Self-supervised Learning of Geometrically Stable Features Through Probabilistic Introspectioncited by 27
  25. 2022MIRA: Mental Imagery for Robotic Affordancescited by 26
  26. 2022Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF)cited by 6
  27. 2022ImPosing: Implicit Pose Encoding for Efficient Visual Localizationcited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 20; 2025: 11; 2026: 11.

45 papers.

Sort:

  1. 2024Scene Coordinate Reconstruction: Posing of Image Collections via Incremental Learning of a Relocalizercited by 73
  2. 2024The NeRFect Match: Exploring NeRF Features for Visual Localizationcited by 32
  3. 2024GS-CPR: Efficient Camera Pose Refinement via 3D Gaussian Splattingcited by 31
  4. 20246DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Modelcited by 28
  5. 2024The Unreasonable Effectiveness of Pre-Trained Features for Camera Pose Refinementcited by 21
  6. 2023Deep Learning for Camera Calibration and Beyond: A Surveycited by 20
  7. 2024GSplatLoc: Grounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localizationcited by 15
  8. 2023AI-Generated Images as Data Source: The Dawn of Synthetic Eracited by 13
  9. 2023SOAC: Spatio-Temporal Overlap-Aware Multi-Sensor Calibration using Neural Radiance Fieldscited by 13
  10. 2025From Sparse to Dense: Camera Relocalization with Scene-Specific Detector from Feature Gaussian Splattingcited by 13
  11. 20243DGS-Calib: 3D Gaussian Splatting for Multimodal SpatioTemporal Calibrationcited by 12
  12. 2024Learning Neural Volumetric Pose Features for Camera Localizationcited by 11
33 more
  1. 2025Gaussian Splatting Feature Fields for Privacy-Preserving Visual Localizationcited by 10
  2. 2024MeshVPR: Citywide Visual Place Recognition Using 3D Meshescited by 8
  3. 2024IFFNeRF: Initialisation Free and Fast 6DoF pose estimation from a single image and a NeRF modelcited by 5
  4. 2024Self-supervised Learning of Neural Implicit Feature Fields for Camera Pose Refinementcited by 5
  5. 2024SG-NeRF: Neural Surface Reconstruction with Scene Graph Optimizationcited by 5
  6. 2025GSVisLoc: Generalizable Visual Localization for Gaussian Splatting Scene Representationscited by 5
  7. 2024LiteVLoc: Map-Lite Visual Localization for Image Goal Navigationcited by 4
  8. 2024Adversarial Exploitation of Data Diversity Improves Visual Localizationcited by 4
  9. 2024PEnG: Pose-Enhanced Geo-Localisationcited by 3
  10. 2025Can we make NeRF-based visual localization privacy-preserving?cited by 3
  11. 2024ConDo: Continual Domain Expansion for Absolute Pose Regressioncited by 2
  12. 2025SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splattingcited by 2
  13. 2024FaVoR: Features via Voxel Rendering for Camera Relocalizationcited by 1
  14. 2025Camera Pose Refinement via 3D Gaussian Splattingcited by 1
  15. 2025GRLoc: Geometric Representation Regression for Visual Localizationcited by 1
  16. 2026ImLoc: Revisiting Visual Localization with Image-based Representationcited by 1
  17. 2026Rethinking Pose Refinement in 3D Gaussian Splatting under Pose Prior and Geometric Uncertaintycited by 1
  18. 2024PRAM: Place Recognition Anywhere Model for Efficient Visual Localizationcited by 0
  19. 2024Matching Query Image Against Selected NeRF Feature for Efficient and Scalable Localizationcited by 0
  20. 2024Robust SG-NeRF: Robust Scene Graph Aided Neural Surface Reconstructioncited by 0
  21. 2025HAL-NeRF: High Accuracy Localization Leveraging Neural Radiance Fieldscited by 0
  22. 2025Robust Visual Localization via Semantic-Guided Multi-Scale Transformercited by 0
  23. 2025SGLoc: Semantic Localization System for Camera Pose Estimation from 3D Gaussian Splatting Representationcited by 0
  24. 2025Hi^2-GSLoc: Dual-Hierarchical Gaussian-Specific Visual Relocalization for Remote Sensingcited by 0
  25. 2026L3:Scene-agnostic Visual Localization in the Wildcited by 0
  26. 2026PlanaReLoc: Camera Relocalization in 3D Planar Primitives via Region-Based Structure Matchingcited by 0
  27. 2026Hierarchical Visual Relocalization with Nearest View Synthesis from Feature Gaussian Splattingcited by 0
  28. 2026LSGS-Loc: Towards Robust 3DGS-Based Visual Localization for Large-Scale UAV Scenarioscited by 0
  29. 2026Disambiguating 2D-3D Correspondences in Gaussian Splatting-based Feature Fields for Visual Localizationcited by 0
  30. 2026Efficient Sparse-to-Dense Visual Localization via Compact Gaussian Scene Representation and Accelerated Dense Pose Estimationcited by 0
  31. 2026GS-CPE: Unified 6-Degree-of-Freedom Camera Pose Estimation via 3D Gaussian Splattingcited by 0
  32. 2026HistReNeRF: Historic Image Relocalisation within Contemporary Neural Radiance Field Reconstructionscited by 0
  33. 2026NaCR: Visual Localization via NeRF-aided Camera Ray Regressioncited by 0