visual-localization

🔥SLAM, VIsual localization, keypoint detection, Image matching, Pose/Object tracking, Depth/Disparity/Flow Estimation, 3D-graphic, etc. related papers and code

slam disparity image-retrieval 3d 3d-graphics image-matching depth-estimation visual-localization keypoint-detection camera-localization pose-tracking flow-estimation orb-slam keypoint-descriptor keypoint-matching

UpdatedJun 7, 2025

mihaidusmanu /d2-net

Star840

D2-Net: A Trainable CNN for Joint Description and Detection of Local Features

cnn pytorch local-features visual-localization cvpr2019

UpdatedApr 8, 2024
Jupyter Notebook

cvg /limap

Star830

A toolbox for mapping and localization with line features.

multi-view-geometry bundle-adjustment 3d-reconstruction vanishing-points line-detection visual-localization line-mapping line-matchng

UpdatedNov 1, 2025
Python

TurtleZhong /Map-based-Visual-Localization

Star783

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

gps triangulation imu sensor-fusion place-recognition image-retrieval feature-tracking pose-estimation visual-odometry wheel-encoders relocalization visual-localization wheel-odometry line-feature

UpdatedOct 28, 2020

alexstoken /image-matching-models

Star614

A framework to easily use 37 (and growing) different image matching methods

image-retrieval image-matching feature-matching local-features visual-localization

UpdatedAug 20, 2025
Python

fabio-sim /LightGlue-ONNX

Star540

ONNX-compatible LightGlue: Local Feature Matching at Light Speed. Supports TensorRT, OpenVINO

machine-learning deep-learning disk pytorch feature-extraction pose-estimation tensorrt feature-matching homography local-features onnx onnx-torch openvino visual-localization onnxruntime superpoint homography-estimation local-feature-matching lightglue

UpdatedOct 7, 2024
Python

naver /kapture

Star521

kapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.

localization structure-from-motion sfm image-retrieval r2d2 colmap visual-localization visual-features

UpdatedMar 11, 2024
Python

nianticlabs /ace

Star417

[CVPR 2023 - Highlight] Accelerated Coordinate Encoding (ACE): Learning to Relocalize in Minutes using RGB and Poses

machine-learning cvpr pose-estimation compute-vision visual-localization camera-localization dsac cvpr2023

UpdatedJan 29, 2024
Python

siyandong /awesome-visual-localization

Star403

A curated list of awesome visual localization research works.

3d-vision camera-pose-estimation camera-relocalization visual-localization

UpdatedMay 8, 2025

naver /kapture-localization

Star279

Provide mapping and localization pipelines based on kapture format

localization structure-from-motion sfm image-retrieval r2d2 colmap visual-localization

UpdatedMar 28, 2024
Python

yosungho /LineTR

Star250

Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localization (Line Transformer)

visual-slam visual-localization line-descriptor

UpdatedMar 20, 2023
Python

ais-lab /pl2map

Star220

[IROS 2024] Representing 3D sparse map points and lines for camera relocalization; [IROS 2025] Improved 3D Point-Line Mapping Regression for Camera Relocalization

lightweight pytorch camera-relocalization visual-localization point-line scene-coordinate-regression