RelPose++: Recovering 6D Poses from Sparse-view Observations Article Swipe
Amy Lin
,
Jason Zhang
,
Deva Ramanan
,
Shubham Tulsiani
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2305.04926
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2305.04926
We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views, especially for objects with visual symmetries and texture-less surfaces. We build on the recent RelPose framework which learns a network that infers distributions over relative rotations over image pairs. We extend this approach in two key ways; first, we use attentional transformer layers to process multiple images jointly, since additional views of an object may resolve ambiguous symmetries in any given image pair (such as the handle of a mug that becomes visible in a third view). Second, we augment this network to also report camera translations by defining an appropriate coordinate system that decouples the ambiguity in rotation estimation from translation prediction. Our final system results in large improvements in 6D pose prediction over prior art on both seen and unseen object categories and also enables pose estimation and 3D reconstruction for in-the-wild objects.
Related Topics
Concepts
Artificial intelligence
Computer science
Computer vision
Ambiguity
Pose
Translation (biology)
Object (grammar)
Rotation (mathematics)
Task (project management)
Process (computing)
Image (mathematics)
Messenger RNA
Economics
Gene
Programming language
Operating system
Chemistry
Biochemistry
Management
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2305.04926
- https://arxiv.org/pdf/2305.04926
- OA Status
- green
- Cited By
- 1
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4375959567
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4375959567Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2305.04926Digital Object Identifier
- Title
-
RelPose++: Recovering 6D Poses from Sparse-view ObservationsWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-05-08Full publication date if available
- Authors
-
Amy Lin, Jason Zhang, Deva Ramanan, Shubham TulsianiList of authors in order
- Landing page
-
https://arxiv.org/abs/2305.04926Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2305.04926Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2305.04926Direct OA link when available
- Concepts
-
Artificial intelligence, Computer science, Computer vision, Ambiguity, Pose, Translation (biology), Object (grammar), Rotation (mathematics), Task (project management), Process (computing), Image (mathematics), Messenger RNA, Economics, Gene, Programming language, Operating system, Chemistry, Biochemistry, ManagementTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
1Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.images). | 14 |
| abstract_inverted_index.jointly, | 82 |
| abstract_inverted_index.multiple | 80 |
| abstract_inverted_index.objects. | 169 |
| abstract_inverted_index.relative | 59 |
| abstract_inverted_index.rotation | 133 |
| abstract_inverted_index.ambiguity | 131 |
| abstract_inverted_index.ambiguous | 91 |
| abstract_inverted_index.decouples | 129 |
| abstract_inverted_index.framework | 50 |
| abstract_inverted_index.rotations | 60 |
| abstract_inverted_index.surfaces. | 43 |
| abstract_inverted_index.additional | 84 |
| abstract_inverted_index.algorithms | 28 |
| abstract_inverted_index.categories | 158 |
| abstract_inverted_index.coordinate | 126 |
| abstract_inverted_index.especially | 35 |
| abstract_inverted_index.estimating | 5 |
| abstract_inverted_index.estimation | 134, 163 |
| abstract_inverted_index.prediction | 148 |
| abstract_inverted_index.symmetries | 40, 92 |
| abstract_inverted_index.appropriate | 125 |
| abstract_inverted_index.attentional | 75 |
| abstract_inverted_index.challenging | 31 |
| abstract_inverted_index.in-the-wild | 168 |
| abstract_inverted_index.prediction. | 137 |
| abstract_inverted_index.sparse-view | 10 |
| abstract_inverted_index.transformer | 76 |
| abstract_inverted_index.translation | 136 |
| abstract_inverted_index.contemporary | 25 |
| abstract_inverted_index.improvements | 144 |
| abstract_inverted_index.texture-less | 42 |
| abstract_inverted_index.translations | 121 |
| abstract_inverted_index.distributions | 57 |
| abstract_inverted_index.pre-processing | 20 |
| abstract_inverted_index.reconstruction | 27, 166 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 4 |
| citation_normalized_percentile |