{"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/score-saturated-consensus-relocalization-in","title":"SCORE: Saturated Consensus Relocalization in Semantic Line Maps","arxiv_id":"2503.03254","date":"2025-03-05","proceeding":null,"authors":["Haodong Jiang","Xiang Zheng","Yanglin Zhang","Qingcheng Zeng","Yiqian Li","Ziyang Hong","Junfeng Wu"],"abstract":"We present SCORE, a visual relocalization system that achieves unprecedented map compactness by adopting semantically labeled 3D line maps. SCORE requires only 0.01\\%-0.1\\% of the storage needed by structure-based or learning-based baselines, while maintaining practical accuracy and comparable runtime. The key innovation is a novel robust estimation mechanism, Saturated Consensus Maximization (Sat-CM), which generalizes classical Consensus Maximization (CM) by assigning diminishing weights to inlier associations according to maximum likelihood with probabilistic justification. Under extreme outlier ratios (up to 99.5\\%) arising from one-to-many ambiguity in semantic matching, Sat-CM enables accurate estimation when CM fails. To ensure computational efficiency, we propose an accelerating framework for globally solving Sat-CM formulations and specialize it for the Perspective-n-Lines problem at the core of SCORE.","url_abs":"https://arxiv.org/abs/2503.03254v1","url_pdf":"https://arxiv.org/pdf/2503.03254v1.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"score-saturated-consensus-relocalization-in","repo_url":"https://github.com/LIAS-CUHKSZ/SCORE","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}