通过构建视角间平移图,提升稀疏视角下的相机位姿估计精度。
T-Graph: Enhancing Sparse-view Camera Pose Estimation by Pairwise Translation Graph
- 引入配对视角平移图,用MLP建模相机间的相对位置关系。
- 在2至8个视角下,相机中心定位准确率提升1%至6%。
- 适合作为插件模块集成到现有模型中,尤其适合遥感应用。
稀疏视角相机位姿估计旨在从有限视角图像中估计6自由度(6-DoF)位姿,是遥感应用中的基础且具有挑战性的问题。现有方法常忽略视角之间的平移信息,导致稀疏场景下性能不佳。为此,本文提出T-Graph,一个轻量级、可即插即用的模块,用于增强稀疏视角下的相机位姿估计。T-Graph以成对图像特征为输入,经多层感知机(MLP)映射后构建全连接的平移图,节点代表相机,边编码其平移关系。该模块可作为并行分支无缝集成至现有模型,保持高效与易用性。此外,提出两种配对平移表示:相对坐标系下的relative-t和旋转解耦的pair-t,前者捕捉直观空间关系,后者提升适应性。在两个先进方法(RelPose++ 和 Forge)及公开数据集(C03D 与 IMC PhotoTourism)上的大量实验验证了T-Graph的有效性与泛化能力。结果表明,在不同指标上均有持续提升,尤其在相机中心定位精度方面,2至8个视角下提升1%至6%。
原文摘要 · Abstract (English)
Sparse-view camera pose estimation, which aims to estimate the 6-Degree-of-Freedom (6-DoF) poses from a limited number of images captured from different viewpoints, is a fundamental yet challenging problem in remote sensing applications. Existing methods often overlook the translation information between each pair of viewpoints, leading to suboptimal performance in sparse-view scenarios. To address this limitation, we introduce T-Graph, a lightweight, plug-and-play module to enhance camera pose estimation in sparse-view settings. T-graph takes paired image features as input and maps them through a Multilayer Perceptron (MLP). It then constructs a fully connected translation graph, where nodes represent cameras and edges encode their translation relationships. It can be seamlessly integrated into existing models as an additional branch in parallel with the original prediction, maintaining efficiency and ease of use. Furthermore, we introduce two pairwise translation representations, relative-t and pair-t, formulated under different local coordinate systems. While relative-t captures intuitive spatial relationships, pair-t offers a rotation-disentangled alternative. The two representations contribute to enhanced adaptability across diverse application scenarios, further improving our module's robustness. Extensive experiments on two state-of-the-art methods (RelPose++ and Forge) using public datasets (C03D and IMC PhotoTourism) validate both the effectiveness and generalizability of T-Graph. The results demonstrate consistent improvements across various metrics, notably camera center accuracy, which improves by 1% to 6% from 2 to 8 viewpoints.
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