ULF-Loc: Unbiased Landmark Feature for Robust Visual Localization with 3D Gaussian Splatting

ArXi:2605.04730v1 Announce Type: new Visual localization is a core technology for augmented reality and autonomous navigation. Recent methods combine the efficient rendering of 3D Gaussian Splatting (3DGS) with feature-based localization. These methods rely on direct matching between 2D query features and the 3D Gaussian feature field, but this often results in mismatches due to an inherent bias in the learned Gaussian feature. We theoretically analyze the feature learning process in 3DGS, revealing that the widely adopted $\alpha$-blending optimization inherently.