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arXiv · 2604.09445

AsymLoc: Towards Asymmetric Feature Matching for Efficient Visual Localization

Mohammad Omama·Gabriele Berton·Eric Foxlin·Yelin Kim
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Abstract

Precise and real-time visual localization is critical for applications like AR/VR and robotics, especially on resource-constrained edge devices such as smart glasses, where battery life and heat dissipation can be a primary concerns. While many efficient models exist, further reducing compute without sacrificing accuracy is essential for practical deployment. To address this, we propose asymmetric visual localization: a large Teacher model processes pre-mapped database images offline, while a lightweight Student model processes the query image online. This creates a challenge in matching features from two different models without resorting to heavy, learned matchers. We introduce AsymLoc, a novel distillation framework that aligns a Student to its Teacher through a combination of a geometry-driven matching objective and a joint detector-descriptor distillation objective, enabling fast, parameter-less nearest-neighbor matching. Extensive experiments on HPatches, ScanNet, IMC2022, and Aachen show that AsymLoc achieves up to 95% of the teacher's localization accuracy using an order of magnitude smaller models, significantly outperforming existing baselines and establishing a new state-of-the-art efficiency-accuracy trade-off.

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Mohammad Omama, Gabriele Berton, Eric Foxlin, Yelin Kim. 2026-07-02. AsymLoc: Towards Asymmetric Feature Matching for Efficient Visual Localization. https://arxiv.org/abs/2604.09445

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