LSGS-Loc: Towards Robust 3DGS-Based Visual Localization for Large-Scale UAV Scenarios
Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) has emerged as a promising scene representation, existing 3DGS-based visual localization methods struggle with robust pose initialization and sensitivity to rendering artifacts in large-scale settings. To address these limitations, we propose LSGS-Loc, a novel visual localization pipeline tailored for large-scale 3DGS scenes. Specifically, we introduce a scale-aware pose initialization strategy that combines scene-agnostic relative pose estimation with explicit 3DGS scale co...
| Authors | Xiang Zhang, Tengfei Wang, Fang Xu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 7 April 2026 |
| Last updated at source | 7 April 2026 |
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