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hloc - the hierarchical localization toolbox

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.

With hloc, you can:

• Reproduce our CVPR 2020 winning results on outdoor (Aachen) and indoor (InLoc) datasets
• Run Structure-from-Motion with SuperPoint+SuperGlue to localize with your own datasets
• Evaluate your own local features or image retrieval for visual localization
• Implement new localization pipelines and debug them easily