Direct-PoseNet: Absolute Pose Regression with Photometric Consistency

04/08/2021
by   Shuai Chen, et al.
8

We present a relocalization pipeline, which combines an absolute pose regression (APR) network with a novel view synthesis based direct matching module, offering superior accuracy while maintaining low inference time. Our contribution is twofold: i) we design a direct matching module that supplies a photometric supervision signal to refine the pose regression network via differentiable rendering; ii) we modify the rotation representation from the classical quaternion to SO(3) in pose regression, removing the need for balancing rotation and translation loss terms. As a result, our network Direct-PoseNet achieves state-of-the-art performance among all other single-image APR methods on the 7-Scenes benchmark and the LLFF dataset.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 7

04/08/2021

CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds

In this work, we tackle the problem of category-level online pose tracki...
08/20/2020

DronePose: Photorealistic UAV-Assistant Dataset Synthesis for 3D Pose Estimation via a Smooth Silhouette Loss

In this work we consider UAVs as cooperative agents supporting human use...
03/11/2021

DualPoseNet: Category-level 6D Object Pose and Size Estimation using Dual Pose Network with Refined Learning of Pose Consistency

Category-level 6D object pose and size estimation is to predict 9 degree...
12/22/2020

A Structure-Aware Method for Direct Pose Estimation

Estimating camera pose from a single image is a fundamental problem in c...
10/13/2020

LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization

We present LM-Reloc – a novel approach for visual relocalization based o...
01/24/2020

6D Object Pose Regression via Supervised Learning on Point Clouds

This paper addresses the task of estimating the 6 degrees of freedom pos...
02/05/2019

6D Object Pose Estimation without PnP

In this paper, we propose an efficient end-to-end algorithm to tackle th...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.