---
license: apache-2.0
---

<h2 align="center">FaVoR: Features via Voxel Rendering for Camera Relocalization
</h2>

  <p align="center">
A feature renderer for 3D feature points representation for robust camera localization.
    <br/>
    <a href="https://papers.starslab.ca/favor/">Webpage</a>
    ·
    <a href="https://github.com/utiasSTARS/FaVoR/issues">Report Bug</a>
    ·
    <a href="https://github.com/utiasSTARS/FaVoR/issues">Request Feature</a>
  </p>

This repo contains the models for the paper **FaVoR: Features via Voxel Rendering for Camera Relocalization**
([PDF](https://arxiv.org/pdf/2409.07571)) by [Vincenzo Polizzi](https://polivi.iobii.com)
, [Marco Cannici](https://marcocannici.github.io/), [Davide Scaramuzza](http://rpg.ifi.uzh.ch/people_scaramuzza.html)
and [Jonathan Kelly](https://starslab.ca/people/prof-jonathan-kelly/).
For an overview of our method, check out our [webpage](https://papers.starslab.ca/favor/).

If you use any of these models, please cite the following publication:

```bibtex
@misc{polizzi2024arXiv,
    title = {FaVoR: Features via Voxel Rendering for Camera Relocalization},
    author = {Vincenzo Polizzi and Marco Cannici and Davide Scaramuzza and Jonathan Kelly},
    year = {2024},
    eprint = {2409.07571},
    archivePrefix = {arXiv},
    primaryClass = {cs.CV},
    url = {https://arxiv.org/abs/2409.07571},
}
```