PRAGO: Differentiable Multi-View Pose Optimization From Objectness Detections

arXiv:2403.08586v1 Announce Type: new
Abstract: Robustly estimating camera poses from a set of images is a fundamental task which remains challenging for differentiable methods, especially in the case of small and sparse camera pose graphs. To overcome this challenge, we propose Pose-refined Rotation Averaging Graph Optimization (PRAGO). From a set of objectness detections on unordered images, our method reconstructs the rotational pose, and in turn, the absolute pose, in a differentiable manner benefiting from the optimization of a sequence of …

abstract arxiv case challenge cs.cv differentiable graph graphs images optimization rotation set small type view