Abstract: A reference image and recorded sound of an environment of a client device are obtained. The recorded sound may be captured by a microphone of the client device in a period of time after generation of a localization sound by the client device. The location of the client device in the environment may be determined using the reference image and the recorded sound.

Abstract: A method or a system for map-free visual relocalization of a device. The system obtains a reference image of an environment captured by a reference pose. The system also receives a query image taken by a camera of the device. The system determines a relative pose of the camera of the device relative to the reference camera based in part on the reference image and the query image. The system determines a pose of the query camera in the environment based on the reference pose and the relative pose.

Abstract: The present disclosure describes approaches to camera re-localization using a graph neural network (GNN). A re-localization model includes encoding an input image into a feature map. The model retrieves reference images from an image database of a previously scanned environment based on the feature map of the image. The model builds a graph based on the image and the reference images, wherein nodes represent the image and the reference images, and edges are defined between the nodes. The model may iteratively refine the graph through auto-aggressive edge-updating and message passing between nodes. With the graph built, the model predicts a pose of the image based on the edges of the graph. The pose may be a relative pose in relation to the reference images, or an absolute pose.