Tool for Visual Geo-localization using Horizon Line

Visual geo-localization is a problem of finding camera position and possibly orientation given the input image. This software implements a visual geo-localization method based on a comparison of query horizon line with a database of rendered horizon lines from the terrain model. Camera orientation estimation with three degrees of freedom based on query horizon line and a rendered panorama is also implemented and was used as a benchmark in our paper: Camera Orientation Estimation in Natural Scenes Using Semantic Cues.