Reference-Induced Consensus for Selective Posed-Reference Visual Localization
We present RIC-Loc (Reference-Induced Consensus localization), a scene-training-free posed-reference localizer that is SfM-point-map-free in its main estimator: it uses known reference poses, but not precomputed SfM 3D map points, query-to-map 2D-3D matches, or query-to-map PnP. A frozen VGGT pass predicts local camera poses, depth, and query-reference tracks for a query and selected references. Each reference induces one map-frame SE(3) query-pose hypothesis, robust consensus estimates the pose, and the preserved hypothesis structure yields two reliability scores: spatial dispersion and a track-conditioned covariance score. On the covariance-eligible set, the two scores are complementary...
| Authors | Wonseok Kang, Jaehyun Kim, Jeongmin Lee et al. |
|---|---|
| Primary category | cs.CV |
| Published | 6 July 2026 |
| Last updated at source | 6 July 2026 |
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