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OmniVLoc: A Topo-metric Visual Localization System for Omnidirectional Cameras

OmniVLoc proposes a surround-view visual localization system for omnidirectional cameras based on a topo-metric framework. It fuses global place recognition with monocular depth estimation to achieve multi-constrained localization, and solves a scale-aware pose graph and spherical bundle adjustment to recover metric-level poses. The system includes a hierarchical verification mechanism that filters erroneous outputs at each stage to improve robustness. Experiments on public datasets and a custom dataset validate its accuracy and reliability, and the source code and dataset will be released after the paper is published.

Part of the event: OmniVLoc: A Topological-Metric Visual Localization System for Panoramic Cameras

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