Visual localization made easy with hloc
D2-Net: A Trainable CNN for Joint Description and Detection of Local Features
Pixel-Perfect Structure-from-Motion with Featuremetric Refinement (ICCV 2021, Best Student Paper Award)
🔥SLAM, VIsual localization, keypoint detection, Image matching, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code
🤗 image matching webui
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.
A toolbox for 3D visual mapping, localization, and SfM with structured geometric features (points, lines, planes, vanishing points, wireframes, etc.).
ONNX-compatible LightGlue: Local Feature Matching at Light Speed. Supports TensorRT, OpenVINO
Wrapper of 50+ image matching models with a unified interface
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
Provide mapping and localization pipelines based on kapture format
Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localization (Line Transformer)
GSV-Cities: a large-scale dataset for visual place recognition
Benchmark for UAV Visual Localization under Low-altitude Multi-view Observation Condition
[AAAI 2025 Oral🚁] Game4Loc: A UAV Geo-Localization Benchmark from Game Data
MmCows: A Multimodal Dataset for Dairy Cattle Monitoring
Official PyTorch implementation of paper "A Hybrid Compact Neural Architecture for Visual Place Recognition" by M. Chancán (RA-L & ICRA 2020) https://doi.org/10.1109/LRA.2020.2967324
[IROS 2024] Representing 3D sparse map points and lines for camera relocalization; [IROS 2025] Improved 3D Point-Line Mapping Regression for Camera Relocalization
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