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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/y23bnoohvewjoz94gx3lbuw74
- Original: https://arxiv.org/abs/2610.27522

## Summary

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.