In this paper, we present a versatile method for visual localization. It is based on robust image retrieval for coarse camera pose estimation and robust local features for accurate pose refinement. Our method is top ranked on various public datasets showing its ability of generalization and its great variety of applications. To facilitate experiments, we introduce kapture, a flexible data format and processing pipeline for structure from motion and visual localization that is released open source. We furthermore provide all datasets used in this paper in the kapture format to facilitate research and data processing. Code and datasets can be found at https://github.com/naver/kapture, more information, updates, and news can be found at https://europe.naverlabs.com/research/3d-vision/kapture.
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