Enhanced Camera Relocalization Through Optimized Accelerated Coordinate Encoding Network and Pose Solver
Year: 2025
Type: article
Abstract: This paper presents an improved approach for scene-aware camera relocalization using RGB images and poses. Building upon the ACE network, we proposed a refined head structure that integrates skip and dense connections alongside channel attention mechanisms. Additionally, we introduced modifications to the loss function and pose solver, leveraging SQPnP and iterative optimization. These enhancements led to significant improvements in the localization accuracy and speed, as evidenced by our experiments on the 7scenes, 12scenes, and wayspots datasets. Here, we show that the average localization errors were reduced by up to 30% and the computational times were cut by approximately 10% compared to the original ACE network, demonstrating the practicality and robustness of our approach.
Source: Sensors
DOI: 10.3390/s25061920
Authors: Xinbo Chai, Zhen Yang, Xinrong Tan, Mengyang Zhu, Changbin Zhong, Jianping Shi
Institutions: Nanjing Normal University, Southeast University
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4408662584