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arXiv Computer Vision By Zhuo Yu, Shuyang Zhang, Huihua Zhu, Wenjia Ouyang, Zuo Zuo, Jianhao Jiao, Yilong Zhu, Xiaopin Zhong, Zongze Wu

OmniVLoc: Topo-metric Visual Localization for Omnidirectional Cameras

Read the original on arXiv Computer Vision →

OmniVLoc is a new visual localization system designed for omnidirectional cameras, leveraging a topo‑metric framework to overcome field‑of‑view limitations of traditional methods. It combines state‑of‑the‑art global place recognition with monocular depth estimation, solving a scale‑aware pose graph and applying precise spherical bundle adjustment to recover metric‑level poses. A hierarchical verification mechanism filters erroneous outputs, enhancing robustness, and extensive experiments on public and custom datasets demonstrate its superior accuracy and reliability.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Computer Vision.

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