RelPose++: Recovering 6D Poses from Sparse-view Observations

[https://amyxlase.github.io/relpose-plus-plus/](https://amyxlase.github.io/relpose-plus-plus/)

By: [Amy Lin](https://amyxlase.github.io/relpose-plus-plus/), [Jason Y. Zhang](https://jasonyzhang.com/), [Deva Ramanan](https://www.cs.cmu.edu/~deva/), [Shubham Tulsiani](http://shubhtuls.github.io/), Carnegie Mellon University

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>***Estimating 6D Camera Poses from Sparse Views.*** *RelPose++ extracts per-image features (with positionally encoded image index and bounding box parameters) and jointly processes these features using a Transformer. We used an energy-based framework to recover coherent sets of camera rotations by using a score-predictor for pairs of relative rotations. RelPose++ also predicts camera translations by defining an appropriate coordinate system that decouples the ambiguity in …

box computervision energy features framework image index per processes transformer