mlsanityData to 7 Oct 2026

3D Gaussian Splatting aided Localization for Large and Complex Indoor-Environments

arXiv 2502.13803 ↗First posted 19 Feb 2025cs.CV cs.ROcited by 2

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Abstract (arXiv)

The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods fail. We present an approach to significantly improve the accuracy and reliability of established visual localization methods by adding rendered images. In detail, we first use a modern visual SLAM approach that provides a 3D Gaussian Splatting (3DGS) based map to create reference data. We demonstrate that enriching reference data with images rendered from 3DGS at randomly sampled poses significantly improves the performance of both geometry-based visual localization and Scene Coordinate Regression (SCR) methods. Through comprehensive evaluation in a large industrial environment, we analyze the performance impact of incorporating these additional rendered views.

Key facts. Cited by 2 papers in the map (data through 7 Oct 2026). Builds on 22 of its 40 references that are in the map. First posted on arXiv 19 Feb 2025.

Builds on

22 of 40 references.

References · 22

  1. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  2. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,313
  3. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  4. 2021LoFTR: Detector-Free Local Feature Matching with Transformerscited by 974
  5. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  6. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 556
  7. 2019D2-Net: A Trainable CNN for Joint Detection and Description of Local Featurescited by 324
  8. 2023RoMa: Robust Dense Feature Matchingcited by 296
  9. 2016DSAC - Differentiable RANSAC for Camera Localizationcited by 264
  10. 2024A Hierarchical 3D Gaussian Representation for Real-Time Rendering of Very Large Datasetscited by 214
  11. 2020Visual Camera Re-Localization from RGB and RGB-D Images Using DSACcited by 176
  12. 2023AnyLoc: Towards Universal Visual Place Recognitioncited by 159
10 more
  1. 2023ALIKED: A Lighter Keypoint and Descriptor Extraction Network via Deformable Transformationcited by 120
  2. 2019AtLoc: Attention Guided Camera Localizationcited by 92
  3. 2024SplatLoc: 3D Gaussian Splatting-based Visual Localization for Augmented Realitycited by 42
  4. 2022Visual Localization via Few-Shot Scene Region Classificationcited by 36
  5. 2024The NeRFect Match: Exploring NeRF Features for Visual Localizationcited by 32
  6. 2023HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fieldscited by 31
  7. 2023HSCNet++: Hierarchical Scene Coordinate Classification and Regression for Visual Localization with Transformercited by 26
  8. 2018Full-Frame Scene Coordinate Regression for Image-Based Localizationcited by 13
  9. 2024GSLoc: Visual Localization with 3D Gaussian Splattingcited by 12
  10. 2024SLAM for Indoor Mapping of Wide Area Construction Environmentscited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 2.

2 papers.

  1. 2026BALTIC: A Benchmark and Cross-Domain Strategy for 3D Reconstruction Across Air and Underwater Domains Under Varying Illuminationcited by 0
  2. 2026GS-CPE: Unified 6-Degree-of-Freedom Camera Pose Estimation via 3D Gaussian Splattingcited by 0