Visual Camera Re-Localization using Graph Neural Networks and Relative Pose Supervision

A non-transitory computer-readable storage medium storing instructions that, when executed by a computer processor of a client device, cause the computer processor to perform operations comprising:

• receiving an image of a scene captured by a camera of the client device;
• inputting the image of the scene into a re-localization model, wherein the re-localization model performs steps comprising:
• encoding the image into a feature map;
• retrieving reference images from an image database based on the feature map of the image;
• building a graph based on the image and the reference images comprising:
• nodes representing the image and the reference images, and
• edges between the nodes;
• and
• predicting a pose of the image based on the graph;
• receiving, from the re-localization model, the predicted pose for the image of the scene;
• and
• generating, using the predicted pose, virtual content for display by the client device in conjunction with the scene.