EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalization

• URL: http://arxiv.org/abs/2402.13537v1
• Date: Wed, 21 Feb 2024 05:26:17 GMT
• Title: EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalization
• Authors: Zhendong Xiao, Changhao Chen, Shan Yang, Wu Wei
• Abstract summary: We propose EffLoc, a novel efficient Vision Transformer for single-image camera relocalization. EffLoc excels in efficiency and accuracy, outperforming prior methods, such as AtLoc and MapNet. It thrives on large-scale outdoor car-driving scenario, ensuring simplicity, end-to-end trainability, and eliminating handcrafted loss functions.
• Score: 12.980447668368274
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent strides use deep learning for direct end-to-end pose estimation. We propose EffLoc, a novel efficient Vision Transformer for single-image camera relocalization. EffLoc's hierarchical layout, memory-bound self-attention, and feed-forward layers boost memory efficiency and inter-channel communication. Our introduced sequential group attention (SGA) module enhances computational efficiency by diversifying input features, reducing redundancy, and expanding model capacity. EffLoc excels in efficiency and accuracy, outperforming prior methods, such as AtLoc and MapNet. It thrives on large-scale outdoor car-driving scenario, ensuring simplicity, end-to-end trainability, and eliminating handcrafted loss functions.

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