PlanaReLoc: Camera Relocalization in 3D Planar Primitives via Region-Based Structure Matching

• URL: http://arxiv.org/abs/2603.20818v1
• Date: Sat, 21 Mar 2026 13:30:16 GMT
• Title: PlanaReLoc: Camera Relocalization in 3D Planar Primitives via Region-Based Structure Matching
• Abstract summary: We pioneer the use of planar primitives and 3D planar maps for lightweight 6-DoF camera relocalization in structured environments.<n>PlanaReLoc is a streamlined plane-centric paradigm where a deep matcher associates planar primitives across the query image and the map within a learned unified embedding space.
• Score: 21.698140922880402
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: While structure-based relocalizers have long strived for point correspondences when establishing or regressing query-map associations, in this paper, we pioneer the use of planar primitives and 3D planar maps for lightweight 6-DoF camera relocalization in structured environments. Planar primitives, beyond being fundamental entities in projective geometry, also serve as region-based representations that encapsulate both structural and semantic richness. This motivates us to introduce PlanaReLoc, a streamlined plane-centric paradigm where a deep matcher associates planar primitives across the query image and the map within a learned unified embedding space, after which the 6-DoF pose is solved and refined under a robust framework. Through comprehensive experiments on the ScanNet and 12Scenes datasets across hundreds of scenes, our method demonstrates the superiority of planar primitives in facilitating reliable cross-modal structural correspondences and achieving effective camera relocalization without requiring realistically textured/colored maps, pose priors, or per-scene training. The code and data are available at https://github.com/3dv-casia/PlanaReLoc .

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