通过拆分高斯点解决2D-3D匹配模糊问题,提升视觉定位精度。
Disambiguating 2D-3D Correspondences in Gaussian Splatting-based Feature Fields for Visual Localization

- 用混合高斯分解法将单个高斯拆成多个,实现一对一精准匹配。
- 基于多视角一致性筛选关键高斯,构建紧凑且区分度高的特征场。
- 无需场景微调或迭代优化,可直接用于高精度定位,适合实际部署。
尽管基于高斯泼溅的特征场(GSFFs)在视觉定位中表现良好,但本文指出,经过光度优化的GSFFs本质上不适用于2D-3D匹配。每个高斯的体积分量导致像素到点的多对一映射,破坏基于PnP的姿态估计稳定性;同时光度优化产生大量缺乏多视角一致性的冗余高斯。为此,提出SplitGS-Loc——一种专为定位设计的GSFF构建框架,通过利用高斯属性消除2D-3D对应歧义。核心设计是基于混合高斯的拆分策略,将每个高斯分解为更小的高斯,以替代模糊的多对一关系,实现精确的一对一匹配。同时,利用高斯光栅化中的组合权重,选择在多视图中显著且稳定贡献的高斯,并通过强像素-高斯关联聚合判别性特征,强制多视角一致性。最终生成的紧凑而具有判别力的特征场,支持稳定的PnP收敛,在定位基准上达到当前最优性能。大量实验验证,SplitGS-Loc通过利用高斯属性,使光度优化的GSFFs适用于高精度高效定位,无需每场景训练或迭代姿态精修。
原文摘要 · Abstract (English)
While Gaussian Splatting-based Feature Fields (GSFFs) have shown promise for visual localization, this paper highlights that photometrically optimized GSFFs are inherently ill-suited for 2D-3D matching. The volumetric extent of each Gaussian induces many-to-one pixel-to-point mappings that destabilize PnP-based pose estimation, while photometric optimization gives rise to superfluous Gaussians devoid of multi-view consistency. To address these issues, we propose SplitGS-Loc, a localization-specialized GSFFs construction framework that disambiguates 2D-3D correspondences by exploiting Gaussian attributes. Our key design, Mixture-of-Gaussians-based splitting, decomposes each Gaussian into smaller Gaussians, replacing ambiguous many-to-one with precise one-to-one correspondences. In parallel, we exploit composition weights from GS rasterization to select Gaussians that significantly and consistently contribute across multiple views and aggregate discriminative features through strong pixel-Gaussian associations, enforcing multi-view consistency. The resulting compact yet discriminative feature fields enable stable PnP convergence, achieving state-of-the-art performance on localization benchmarks. Extensive experiments validate that SplitGS-Loc extends the utility of photometric GSFFs to accurate and efficient localization by exploiting Gaussian attributes, without per-scene training or iterative pose refinement.
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