search

naver / kapture-localization

Provide mapping and localization pipelines based on kapture format
BSD 3-Clause "New" or "Revised" License
268 stars 42 forks source link

Pose estimation #3

Closed Zumbalamambo closed 3 years ago

Zumbalamambo commented 3 years ago

The structure of the code is not clear. May I know how the pose is estimated in localization?

humenbergerm commented 3 years ago

Hi!

Please see the tutorial for more information about the localization methods (algorithms, references, code examples) we use. In short, we use an image retrieval, structure-based method, and COLMAP for SFM (point triangulation from known poses) and pose estimation from 2D-3D matches (PNP).

Does this help?

Best, Martin