A two-stage outlier filtering framework for city-scale localization using 3D SfM point clouds

• Main Authors: Cheng, Wentao, Chen, Kan, Lin, Weisi, Goesele, Michael, Zhang, Xinfeng, Zhang, Yabin
• Other Authors: School of Computer Science and Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; City-scale Localization; Outlier Filter
• Online Access: https://hdl.handle.net/10356/137993
• Institution: Nanyang Technological University

Three-dimensional structure-based localization aims to estimate the six-DOF camera pose of a query image by means of feature matches against a 3D Structure-from-Motion (SfM) point cloud. For city-scale SfM point clouds with tens of millions of points, it becomes more and more difficult to disambigua...