SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs

Abstract

We introduce the task of localizing an input image within a multi-modal reference map represented by a collection of 3D scene graphs. These scene graphs comprise multiple modalities, including object-level point clouds, images, attributes, and relationships between objects, offering a lightweight and efficient alternative to conventional methods that rely on extensive image databases. Given these modalities, the proposed method learns a fixed-sized embedding for each node (, representing object instances) in the scene graph, enabling effective matching with the objects visible in the input query image. This strategy significantly outperforms other cross-modal methods, even without incorporating images into the map representation. With images, achieves performance close to that of state-of-the-art techniques depending on large image databases, while requiring three orders-of-magnitude less storage and operating orders-of-magnitude faster. Code and models are available at https://scenegraphloc.github.io.