Visual Camera Re-Localization Using Graph Neural Networks and Relative Pose Supervision

Visual re-localization means using a single image as input to estimate the camera’s location and orientation relative to a pre-recorded environment. The highest-scoring methods are “structure-based,” and need the query camera’s intrinsics as an input to the model, with careful geometric optimization. When intrinsics are absent, methods vie for accuracy by making various other assumptions. This yie...