CVF · CVPR 2026:cvf:66cb775eca4056979fc9d41f89e519f1 · 记录 #1

PlanaReLoc: Camera Relocalization in 3D Planar Primitives via Region-Based Structure Matching

来源日期（仅到年份） 2026

来源记录日期 2026

雷达观测 2026-11-05 02:29

摘要

While structure-based relocalizers have long strived for point correspondences when establishing or regressing query-map associations, in this paper, we pioneer the use of planar primitives and 3D planar maps for lightweight 6-DoF camera relocalization in structured environments. Planar primitives, beyond being fundamental entities in projective geometry, also serve as region-based representations that encapsulate both structural and semantic richness. This motivates us to introduce PlanaReLoc, a streamlined plane-centric paradigm where a deep matcher associates planar primitives across the query image and the map within a learned unified embedding space, after which the 6-DoF pose is solved and refined under a robust framework. Through comprehensive experiments on the ScanNet and 12Scenes datasets across hundreds of scenes, our method demonstrates the superiority of planar primitives in facilitating reliable cross-modal structural correspondences and achieving effective camera relocalization without requiring realistically textured/colored maps, pose priors, or per-scene training. The code and data are available at https://github.com/3dv-casia/PlanaReLoc.