PoseDiffusion: Solving Pose Estimation via Diffusion-aided Bundle Adjustment

• URL: http://arxiv.org/abs/2306.15667v4
• Date: Wed, 24 Jan 2024 21:00:12 GMT
• Title: PoseDiffusion: Solving Pose Estimation via Diffusion-aided Bundle Adjustment
• Authors: Jianyuan Wang, Christian Rupprecht, David Novotny
• Abstract summary: We propose to formulate the Structure from Motion (SfM) problem inside a probabilistic diffusion framework. We show that our method PoseDiffusion significantly improves over the classic SfM pipelines. It is observed that our method can generalize across datasets without further training.
• Score: 21.98302129015761
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Camera pose estimation is a long-standing computer vision problem that to date often relies on classical methods, such as handcrafted keypoint matching, RANSAC and bundle adjustment. In this paper, we propose to formulate the Structure from Motion (SfM) problem inside a probabilistic diffusion framework, modelling the conditional distribution of camera poses given input images. This novel view of an old problem has several advantages. (i) The nature of the diffusion framework mirrors the iterative procedure of bundle adjustment. (ii) The formulation allows a seamless integration of geometric constraints from epipolar geometry. (iii) It excels in typically difficult scenarios such as sparse views with wide baselines. (iv) The method can predict intrinsics and extrinsics for an arbitrary amount of images. We demonstrate that our method PoseDiffusion significantly improves over the classic SfM pipelines and the learned approaches on two real-world datasets. Finally, it is observed that our method can generalize across datasets without further training. Project page: https://posediffusion.github.io/

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