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This is hloc, a modular toolbox for state-of-the-art 6-DoF visual localization. It implements Hierarchical Localization, leveraging image retrieval and feature matching, and is fast, accurate, and scalable. This codebase won the indoor/outdoor localization challenges at CVPR 2020 and ECCV 2020, in combination with SuperGlue, our graph neural network for feature matching. We provide step-by-step guides to localize with Aachen, InLoc, and to generate reference poses for your own data using...

TransPose is a human pose estimation model based on a CNN feature extractor, a Transformer Encoder, and a prediction head. Given an image, the attention layers built in Transformer can efficiently capture long-range spatial relationships between keypoints and explain what dependencies the predicted keypoints locations highly rely on.