VideoReloc: Long-Term Indoor Video Relocalization against a Kilobyte-Scale Semantic Scene Graph
Given a compact semantic scene graph, long-term indoor video relocalization estimates a map-frame trajectory after lighting and furniture changes. Visual methods rely on appearance and become unreliable under these changes; localizing one frame at a time from object classes and geometry instead leaves sparse, ambiguous evidence. We introduce VideoReloc, whose adaptive clips use odometry to gather spatial evidence until object and motion criteria are met, adapting query length to the observed scene. Its run-level decision rechecks conflicting placements using evidence accumulated across connected clips, stabilizing the trajectory beyond adjacent-clip tracking. Hypothesis-first registration...
| Authors | Qianru Li, Xuyang Chen, Xuqin Wang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 18 September 2026 |
| Last updated at source | 18 September 2026 |
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