GSLoc: Efficient Camera Pose Refinement via 3D Gaussian Splatting

ICLR 2025 Conference Submission2120 Authors

Keywords: Visual Localization, Camera Pose Estimation, 3D Gaussian Splatting

TL;DR: we present GSLoc, a novel test-time camera pose refinement framework leveraging 3DGS for scene representation.

Abstract: We leverage 3D Gaussian Splatting (3DGS) as a scene representation and propose a novel test-time camera pose refinement (CPR) framework, GS-CPR. This framework enhances the localization accuracy of state-of-the-art absolute pose regression and scene coordinate regression methods. The 3DGS model renders high-quality synthetic images and depth maps to facilitate the establishment of 2D-3D correspondences. GS-CPR obviates the need for training feature extractors or descriptors by operating directly on RGB images, utilizing the 3D foundation model, MASt3R, for precise 2D matching. To improve the robustness of our model in challenging outdoor environments, we incorporate an exposure-adaptive module within the 3DGS framework. Consequently, GS-CPR enables efficient one-shot pose refinement given a single RGB query and a coarse initial pose estimation. Our proposed approach surpasses leading NeRF-based optimization methods in both accuracy and runtime across indoor and outdoor visual localization benchmarks, achieving new state-of-the-art accuracy on two indoor datasets.

Primary Area: optimization

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Submission Number: 2120