Year: 2025
Type: conference-paper
Abstract: Visual localization involves estimating the 6-degree-of-freedom (6-DoF) camera pose within a known scene. A critical step in this process is identifying pixel-to-point correspondences between 2D query images and 3D models. Most advanced approaches currently rely on extensive visual descriptors to establish these correspondences, facing challenges in storage, privacy issues and model maintenance. Direct 2D-3D keypoint matching without visual descriptors is becoming popular as it can overcome those challenges. However, existing descriptor-free methods suffer from low accuracy or heavy computation. Addressing this gap, this paper introduces the Angle-Annular Graph Neural Network (A2-GNN), a simple approach that efficiently learns robust geometric structural representations with annular feature extraction. Specifically, this approach clusters neighbors and embeds each group's distance information and angle as supplementary information to capture local structures. Evaluation on matching and visual localization datasets demonstrates that our approach achieves state-of-the-art accuracy with low computational overhead among visual description-free methods.
Authors: Yejun Zhang, Shuzhe Wang, Juho Kannala
Institution: Aalto University
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
Funder: Academy of Finland
Award: G496875598
OpenAlex ID: W4413513929