Pose estimation and relocalization.

[BJHYZJ]

Thank you very much for your contributions. I have seen a lot of your recent work, but I'm not sure which one to use, so I would like your guidance.

I want to achieve accurate robot movement in an indoor scene through pose estimation and relocalization. The pose estimation is obtained by continuously capturing scenes with a D455 camera. When using hloc/colmap for pose estimation, I found that the number of pairs is always in the tens of thousands, which leads to the pose estimation taking a very long time, usually over an hour (on a single RTX 4090). Therefore, I would like to ask if there is a better and faster method?