arXiv:2503.17938cs.CV2025-03被引 1

提出CorrMamba模型,高效区分图像对中的真实与虚假对应关系。

Selecting and Pruning: A Differentiable Causal Sequentialized State-Space Model for Two-View Correspondence Learning

  • 基于门控软选择机制构建因果序列化结构,自适应聚焦真实对应信息。
  • 在室外相对位姿估计任务中AUC@20°提升2.58个百分点,达新SOTA。
  • 适合需要高精度对应匹配的视觉定位与三维重建场景。

两视图对应学习旨在通过识别图像对间潜在的差异信息来区分真实与虚假对应关系。现有方法或平等地处理信息,或需显式存储完整上下文,实际应用中效率低下。受Mamba固有选择性的启发,我们提出CorrMamba——一种利用Mamba能力从真实对应中选择性挖掘信息、同时抑制虚假对应干扰的对应过滤器,实现低成本自适应聚焦。为避免无序关键点影响Mamba的空间信息挖掘能力,我们设计了一种基于Gumbel-Softmax的因果序列化学习方法,以全自主且可微的方式建立特征间的因果依赖。此外,引入局部上下文增强模块,捕捉对应剪枝所需的关键上下文线索,补充主框架。大量实验表明,CorrMamba在相对位姿估计、视觉定位及分析任务上均达到最先进性能。尤其在户外相对位姿估计中,其AUC@20°相比先前SOTA提升2.58个百分点,凸显其实用优势。代码将公开。

原文摘要 · Abstract (English)

Two-view correspondence learning aims to discern true and false correspondences between image pairs by recognizing their underlying different information. Previous methods either treat the information equally or require the explicit storage of the entire context, tending to be laborious in real-world scenarios. Inspired by Mamba's inherent selectivity, we propose \textbf{CorrMamba}, a \textbf{Corr}espondence filter leveraging \textbf{Mamba}'s ability to selectively mine information from true correspondences while mitigating interference from false ones, thus achieving adaptive focus at a lower cost. To prevent Mamba from being potentially impacted by unordered keypoints that obscured its ability to mine spatial information, we customize a causal sequential learning approach based on the Gumbel-Softmax technique to establish causal dependencies between features in a fully autonomous and differentiable manner. Additionally, a local-context enhancement module is designed to capture critical contextual cues essential for correspondence pruning, complementing the core framework. Extensive experiments on relative pose estimation, visual localization, and analysis demonstrate that CorrMamba achieves state-of-the-art performance. Notably, in outdoor relative pose estimation, our method surpasses the previous SOTA by $2.58$ absolute percentage points in AUC@20\textdegree, highlighting its practical superiority. Our code will be publicly available.

对应匹配因果建模Mamba视觉定位

Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。