Faster pose estimation, support for PoseLib and LightGlue

microsoft / lamar-benchmark

Source code for the ECCV 2022 paper "Benchmarking Localization and Mapping for Augmented Reality".

Creative Commons Attribution 4.0 International

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Faster pose estimation, support for PoseLib and LightGlue #62

Open sarlinpe opened 8 months ago

sarlinpe commented 8 months ago

x100 faster pose estimation by optimizing recover_matches_2d3d
feature matching with LightGlue

Absolute pose estimation for single-image and rig with PoseLib - slightly better than pycolmap

LIN
query_phone
pycolmap: 57.1 / 71.5
poselib:  60.0 / 72.0
query_hololens
pycolmap: 69.2 / 83.4
poselib:  70.5 / 82.7
HGE
query_phone
pycolmap: 45.5 / 60.8
poselib:  46.7 / 60.6
query_hololens
pycolmap: 56.6 / 69.4
poselib:  57.4 / 69.5

cc @vlarsson