{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/litevloc-map-lite-visual-localization-for","title":"LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation","arxiv_id":"2410.04419","date":"2024-10-06","proceeding":null,"authors":["Jianhao Jiao","Jinhao He","Changkun Liu","Sebastian Aegidius","Xiangcheng Hu","Tristan Braud","Dimitrios Kanoulas"],"abstract":"This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequential modules that estimate camera poses in a coarse-to-fine manner. Unlike mainstream approaches relying on detailed 3D representations, LiteVLoc reduces storage overhead by leveraging learning-based feature matching and geometric solvers for metric pose estimation. A novel dataset for the map-free relocalization task is also introduced. Extensive experiments including localization and navigation in both simulated and real-world scenarios have validate the system's performance and demonstrated its precision and efficiency for large-scale deployment. Code and data will be made publicly available.","url_abs":"https://arxiv.org/abs/2410.04419v2","url_pdf":"https://arxiv.org/pdf/2410.04419v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"litevloc-map-lite-visual-localization-for","repo_url":"https://github.com/RPL-CS-UCL/litevloc_code","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"visual-localization","task_name":"Visual Localization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2410.04419","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}