PlanaReLoc: Camera Relocalization in 3D Planar Primitives via Region-Based Structure Matching
While structure-based relocalizers have long strived for point correspondences when establishing or regressing query-map associations, in this paper, we pioneer the use of planar primitives and 3D planar maps for lightweight 6-DoF camera relocalization in structured environments. Planar primitives, beyond being fundamental entities in projective geometry, also serve as region-based representations that encapsulate both structural and semantic richness. This motivates us to introduce PlanaReLoc, a streamlined plane-centric paradigm where a deep matcher associates planar primitives across the query image and the map within a learned unified embedding space, after which the 6-DoF pose is sol...
| Authors | Hanqiao Ye, Yuzhou Liu, Yangdong Liu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 21 March 2026 |
| Last updated at source | 21 March 2026 |
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