Augmented Reality Pose Estimation: A Systematic Review of Visual Localization  and SLAM

Zhiqian Zhang; Hai Huang; Tong Wu; Wenpeng Huang; Zhenghan Zhong

doi:10.54517/m8394

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Augmented Reality Pose Estimation: A Systematic Review of Visual Localization and SLAM

Zhiqian Zhang, Hai Huang, Tong Wu, Wenpeng Huang, Zhenghan Zhong

Article ID: 8394
Vol 7, Issue 1, 2026

DOI: https://doi.org/10.54517/m8394

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Abstract

Augmented Reality (AR) has attracted increasing attention as it enhances user perception and interaction by overlaying virtual content onto the physical world. Accurate and real-time six degrees of freedom (6-DoF) pose estimation is a core requirement for reliable spatial registration. To help researchers understand recent advances and select appropriate methods for AR applications, this survey provides a systematic overview of AR pose estimation algorithms from two complementary perspectives: visual localization with prior scene knowledge and simultaneous localization and mapping (SLAM), which performs online pose estimation and mapping in unknow environments. For visual localization, pose estimation methods can be grouped into three major lines, including feature-matching-based localization, scene coordinate regression, and pose regression; their evolution toward improved robustness and scalability is also discussed. For SLAM-based pose estimation, representative approaches are organized into traditional visual SLAM (VSLAM), deep learning–enhanced SLAM, rendering-based SLAM, highlighting key design choices as well as the strengths and limitations of each category under AR constraints. In addition, evaluation metrics and commonly used benchmarks are reviewed, and reported performance of representative algorithms on selected datasets is summarized. Finally, the review summarizes the current state of AR pose estimation and outlines future research directions.

Keywords

Augmented Reality; Pose Estimation; Visual Localization; Visual Simultaneous Localization and Mapping; Absolute Pose Error; Relative Pose Error

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