Abstract

We present a fast and memory efficient method for localizing a mo-bile user’s 6DOF pose from a single camera image. Our approach registers a view with respect to a sparse 3D point reconstruction. The 3D point dataset is partitioned into pieces based on visibility constraints and occlusion culling, making it scalable and efficient to handle. Starting with a coarse guess, our system only considers features that can be seen from the user’s position. Our method is resource efficient, usually requiring only a few megabytes of mem-ory, thereby making it feasible to run on low-end devices such as mobile phones. At the same time it is fast enough to give instant results on this device class.