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To reliably determine the camera pose of an image relative to a 3D point cloud of a scene, correspondences between 2D features and 3D points are needed. Recent work has demonstrated that directly matching the features against the points outperforms methods that take an intermediate image retrieval step in terms of the number of images that can be localized successfully. Yet, direct matching is inherently less scalable than retrievalbased approaches. In this paper, we therefore analyze thedoi:10.5244/c.26.76 dblp:conf/bmvc/SattlerWLK12 fatcat:3fkehwe3pveetmv5wkoktxtlzi