SceneSqueezer: Learning To Compress Scene for Camera Relocalization
Standard visual localization methods build a priori 3D model of a scene which is used to establish correspondences against the 2D keypoints in a query image. Storing these pre-built 3D scene models can be prohibitively expensive for large-scale environments, especially on mobile devices with limited storage and communication bandwidth. We design a novel framework that compresses a scene while still maintaining localization accuracy. The scene is compressed in three stages: first, the database frames are clustered using pairwise co-visibility information. Then, a learned point selection module prunes the points in each cluster taking into account the final pose estimation accuracy. In the final stage, the features of the selected points are further compressed using learned quantization. Query image registration is done using only the compressed scene points. To the best of our knowledge, we are the first to propose learned scene compression for visual localization. We also demonstrate the effectiveness and efficiency of our method on various outdoor datasets where it can perform accurate localization with low memory consumption.
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