visual-localization

Visual localization made easy with hloc

Pixel-Perfect Structure-from-Motion with Featuremetric Refinement (ICCV 2021, Best Student Paper Award)

🤗 image matching webui

🔥SLAM, VIsual localization, keypoint detection, Image matching, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code

Wrapper of 50+ image matching models with a unified interface

A toolbox for mapping and localization with line features.

D2-Net: A Trainable CNN for Joint Description and Detection of Local Features

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

ONNX-compatible LightGlue: Local Feature Matching at Light Speed. Supports TensorRT, OpenVINO

kapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.

A curated list of awesome visual localization research works.

[CVPR 2023 - Highlight] Accelerated Coordinate Encoding (ACE): Learning to Relocalize in Minutes using RGB and Poses

An image retrieval model for any localization task

Provide mapping and localization pipelines based on kapture format

Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localization (Line Transformer)

[IROS 2024] Representing 3D sparse map points and lines for camera relocalization; [IROS 2025] Improved 3D Point-Line Mapping Regression for Camera Relocalization

Benchmark for UAV Visual Localization under Low-altitude Multi-view Observation Condition

[AAAI 2025 Oral🚁] Game4Loc: A UAV Geo-Localization Benchmark from Game Data

[ICLR 2025] Official repo of "GS-CPR: Efficient Camera Pose Refinement via 3D Gaussian Splatting"

[CVPR 2025] A unified framework for Scene Coordinate Regression-based visual localization