Image-based localization has wide applications including auto navigation

path planning

virtual reality

etc.For the end user

a single image is required.In this paper

we present a ray-based image localization system including ray-based 3D reconstruction and pose graph optimization-based localization.By using the inherit geometry properties of ray-based camera model

the proposed reconstruction algorithm can deal with various wide FOV camera models (panorama and fisheye) to reduce the reconstruction cost and achieve a better reconstruction result.The proposed pose graph optimization localization framework can combine 2D-3D matches information and relative pose information for a better localization accuracy.Experiment result shows the effectiveness of the proposed system.