OmniVLoc: Topo-metric Visual Localization for Omnidirectional Cameras
Omnidirectional cameras provide surround-view information, significantly overcoming the field-of-view constraints for traditional visual localization systems. However, existing localization systems fail to fully exploit the characteristics of omnidirectional cameras, struggling to deliver accurate and robust localization performance amidst scene content variations and illumination-induced appearance changes. In this work, we propose OmniVLoc, a surround-view localization system based on a topo-metric framework. By integrating state-of-the-art global place recognition and monocular depth estimation methods, we introduce a multi-constrained visual localization paradigm. By solving a scale-a...
| Authors | Zhuo Yu, Shuyang Zhang, Huihua Zhu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 20 October 2026 |
| Last updated at source | 20 October 2026 |
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