+
+
+ 
+
+
+ + SPVLoc estimates the 6D camera pose of a query image relative to an untextured 3D reference model with semantic annotations. It establishes the perspective relation between the rendered panorama and the query image by predicting the viewport of the camera within a set of rendered panoramas. +
++ The visualization includes the input image in the top row, the model rendered with the estimated top-1 pose in the second row, the selected reference panorama with the estimated viewport in the third row, and a map showing the estimated position (green circle) alongside the ground truth position (gray circles with radii of 50cm, and 100cm) in the bottom row. +
+
+