Support localization ?

[QuanNguyen94]

It 's amazing about your works. After building the 3D map, for example a 3D map in a house, have this already supported or I can modify from your work to localize the camera pose in the prebuild 3D map by a new query image in that house ? More detail, I want to just feed an image and the 3D map (pointclouds or whatever), it return for me the camera pose in the world of 3D map in short time, cuz I intend to inference with video. If can not, could you suggest for me some methods that I can refer to ? Thank you !

[rover-xingyu]

Hi @QuanNguyen94, this is a very interesting topic!

We have experimented with multi-shot videos (e.g., movie shot change, which resemble small-scale relocalization) and obtained good results. However, we haven’t yet run tests for camera-relocalization tasks. You might try saving the model’s state and reloading it for relocalization. Please give it a try and let me know how it works for you!