Map-Free Visual Relocalization

A computer-implemented method for providing map-free relocalization of a device, the method comprising:

• obtaining a reference image of an environment captured by a reference camera at a reference pose;
• receiving a query image taken by a camera of the device;
• applying the reference image and the query image to a relative pose regression network to output a relative pose of the camera of the device relative to the reference camera in the environment, the relative pose regression network comprising:
• a Siamese network configured to receive the reference image to generate a first set of feature maps, and receive the query image to generate a second set of feature maps;
• a correlation network configured to receive the first set of feature maps and the second set of feature maps as input to generate a set of global features;
• a residual network configured to receive the set of global features as input to generate a global feature vector;
• and
• a multilayer perceptron network configured to receive the global feature vector as input to determine the relative pose of the camera of the device relative to the reference camera in the environment;
• and
• determining a pose of the camera of the device based on the relative pose of the camera of the device and the reference pose of the reference camera.